DTL_ROS.h

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/*
 *  IAV Team
 *  http://www.iav.com
 *
 */


#include <image_transport/image_transport.h>
#include <boost/thread/mutex.hpp>

#include <tf/transform_broadcaster.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>

#include "../include/DepthImage_to_Laserscan.h"

namespace iav_depthimage_to_laserscan
{
  /*
  * These class is like a interface with ROS. Here are all the publishes and subscribers, this means that these
  * Class is the Receiver and Sender the daten of the camera(s) to the virtual Laserscan respectively. 
  *
  * Furthermore, it creates a "general" Laserscan joining the daten from the cameras (when there are two cameras) or 
  * just use the results from the first camera. 
  *
  * The class updates the TFs to the actual angles as well. 
  */
  class DTL_ROS 
  {

  public:       

          DTL_ROS(ros::NodeHandle& n, CParam& Param_1, CParam& Param_2, LSParam& laser_param);
          ~DTL_ROS();

  private:

          void image_callback(const sensor_msgs::ImageConstPtr& depth_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);
        
          void image_callback_2(const sensor_msgs::ImageConstPtr& depth_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);
        
          iav_depthimage_to_laserscan::DepthImage_to_Laserscan itl; // Instance of the Depthimage_to_Laserscan conversion class

          iav_depthimage_to_laserscan::CParam Param1; // Parameters of the first camera
          iav_depthimage_to_laserscan::CParam Param2; // Parameters of the second camera
          iav_depthimage_to_laserscan::LSParam lsparam; // Parameters of the laser
        
          // First camera
          image_transport::ImageTransport it_; // Subscribes to synchronized Image CameraInfo pairs. Subscribe to image topics.
          image_transport::CameraSubscriber sub_; // Subscriber for image_transport
        
          // Second camera
          image_transport::CameraSubscriber sub_2; 

          ros::Publisher pub_; // Publisher for output LaserScan messages
    
          boost::mutex connect_mutex_; // Prevents the publish and subscriber from being called until everything is initialized.

          tf::TransformBroadcaster m_TB; //< Broadcaster to send TFs

          sensor_msgs::LaserScanPtr scan_msg_united; // General Laser Scan (here the combination between the lasers from the first and second camera)
        
  };

}; //iav_depthimage_to_laserscan