00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009-2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef VISION_RECONFIGURE_HH 00036 #define VISION_RECONFIGURE_HH 00037 00038 #include <ros/ros.h> 00039 #include <std_msgs/Header.h> 00040 #include <std_msgs/Int32.h> 00041 #include <dynamic_reconfigure/server.h> 00042 #include <boost/thread/thread.hpp> 00043 #include <gazebo_plugins/CameraSynchronizerConfig.h> 00044 00045 #include <ros/callback_queue.h> 00046 00047 class VisionReconfigure 00048 { 00049 public: 00050 VisionReconfigure(); 00051 00052 ~VisionReconfigure(); 00053 00054 void ReconfigureCallback(gazebo_plugins::CameraSynchronizerConfig &config, uint32_t level); 00055 void QueueThread(); 00056 void spinOnce(); 00057 void spin(double spin_frequency); 00058 00059 private: 00060 ros::NodeHandle nh_; 00061 ros::Publisher pub_projector_; 00062 ros::Publisher pub_header_; 00063 dynamic_reconfigure::Server<gazebo_plugins::CameraSynchronizerConfig> srv_; 00064 std_msgs::Int32 projector_msg_; 00065 ros::CallbackQueue queue_; 00066 boost::thread callback_queue_thread_; 00067 00068 }; 00069 00070 #endif