#include <cliff_detector_node.h>

Public Member Functions
	CliffDetectorNode (ros::NodeHandle &n, ros::NodeHandle &pnh)
unsigned int	getNodeRate ()
	getNodeRate gets rate of data processing loop in node.
void	setNodeRate (const unsigned int rate)
	setNodeRate sets rate of processing data loop in node.
	~CliffDetectorNode ()
Private Member Functions
void	connectCb ()
	connectCb is callback which is called when new subscriber connected.
void	depthCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
	depthCb is callback which is called when new depth image appear
void	disconnectCb ()
	disconnectCb is called when a subscriber stop subscribing
void	reconfigureCb (cliff_detector::CliffDetectorConfig &config, uint32_t level)
	reconfigureCb is dynamic reconfigure callback
Private Attributes
boost::mutex	connection_mutex_
	Prevents the connectCb and disconnectCb from being called until everything is initialized.
cliff_detector::CliffDetector	detector_
	Contains cliff detection method implementation.
image_transport::ImageTransport	it_
	Subscribes to synchronized Image CameraInfo pairs.
unsigned int	node_rate_hz_
ros::NodeHandle	pnh_
	Private node handler used to generate the transport hints in the connectCb.
image_transport::Publisher	pub_
	Publisher for image_transport.
ros::Publisher	pub_points_
	Publisher for publishing messages with stairs points.
dynamic_reconfigure::Server < cliff_detector::CliffDetectorConfig >	reconf_srv_
	Dynamic reconfigure server.
image_transport::CameraSubscriber	sub_
	Subscriber for image_transport.

Detailed Description

Definition at line 59 of file cliff_detector_node.h.

Constructor & Destructor Documentation

CliffDetectorNode::CliffDetectorNode	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pnh
	)

Definition at line 42 of file cliff_detector_node.cpp.

CliffDetectorNode::~CliffDetectorNode ( )

Definition at line 60 of file cliff_detector_node.cpp.

Member Function Documentation

void CliffDetectorNode::connectCb ( ) [private]

connectCb is callback which is called when new subscriber connected.

It allow to subscribe depth image and publish laserscan message only when is laserscan subscriber appear.

Parameters:

pub	Publisher which subscribers are checked.

Definition at line 103 of file cliff_detector_node.cpp.

void CliffDetectorNode::depthCb	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)		`[private]`

depthCb is callback which is called when new depth image appear

Callback for depth image and camera info. It converts depth image to laserscan and publishes it at the end.

Parameters:

depth_msg	Depth image provided by image_transport.
info_msg	CameraInfo provided by image_transport.

Definition at line 81 of file cliff_detector_node.cpp.

void CliffDetectorNode::disconnectCb ( ) [private]

disconnectCb is called when a subscriber stop subscribing

When no one subscribers subscribe laserscan topic, then it stop to subscribe depth image.

Parameters:

pub	Publisher which subscribers are checked.

Definition at line 115 of file cliff_detector_node.cpp.

unsigned int CliffDetectorNode::getNodeRate ( )

getNodeRate gets rate of data processing loop in node.

Returns:: Returns data processing loop rate in Hz.

Definition at line 75 of file cliff_detector_node.cpp.

void CliffDetectorNode::reconfigureCb	(	cliff_detector::CliffDetectorConfig &	config,
		uint32_t	level
	)		`[private]`

reconfigureCb is dynamic reconfigure callback

Callback is necessary to set ROS parameters with dynamic reconfigure server.

Parameters:

config	Dynamic Reconfigure object.
level	Dynamic Reconfigure level.

Definition at line 126 of file cliff_detector_node.cpp.

void CliffDetectorNode::setNodeRate ( const unsigned int rate )

setNodeRate sets rate of processing data loop in node.

Parameters:

rate	Frequency of data processing loop in Hz.

Definition at line 66 of file cliff_detector_node.cpp.

Member Data Documentation

boost::mutex cliff_detector::CliffDetectorNode::connection_mutex_ [private]

Prevents the connectCb and disconnectCb from being called until everything is initialized.

Definition at line 134 of file cliff_detector_node.h.

cliff_detector::CliffDetector cliff_detector::CliffDetectorNode::detector_ [private]

Contains cliff detection method implementation.

Definition at line 132 of file cliff_detector_node.h.

image_transport::ImageTransport cliff_detector::CliffDetectorNode::it_ [private]

Subscribes to synchronized Image CameraInfo pairs.

Definition at line 122 of file cliff_detector_node.h.

unsigned int cliff_detector::CliffDetectorNode::node_rate_hz_ [private]

Definition at line 118 of file cliff_detector_node.h.

ros::NodeHandle cliff_detector::CliffDetectorNode::pnh_ [private]

Private node handler used to generate the transport hints in the connectCb.

Definition at line 120 of file cliff_detector_node.h.

image_transport::Publisher cliff_detector::CliffDetectorNode::pub_ [private]

Publisher for image_transport.

Definition at line 126 of file cliff_detector_node.h.

ros::Publisher cliff_detector::CliffDetectorNode::pub_points_ [private]

Publisher for publishing messages with stairs points.

Definition at line 128 of file cliff_detector_node.h.

dynamic_reconfigure::Server<cliff_detector::CliffDetectorConfig> cliff_detector::CliffDetectorNode::reconf_srv_ [private]

Dynamic reconfigure server.

Definition at line 130 of file cliff_detector_node.h.

image_transport::CameraSubscriber cliff_detector::CliffDetectorNode::sub_ [private]

Subscriber for image_transport.

Definition at line 124 of file cliff_detector_node.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation