extract_indices.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00013  *     notice, this list of conditions and the following disclaimer.
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00035 
00036 #ifndef JSK_PCL_ROS_EXTRACT_INDICES_H_
00037 #define JSK_PCL_ROS_EXTRACT_INDICES_H_
00038 
00039 #include "jsk_topic_tools/diagnostic_nodelet.h"
00040 #include "jsk_recognition_utils/pcl_conversion_util.h"
00041 
00042 #include <sensor_msgs/PointCloud2.h>
00043 #include <message_filters/subscriber.h>
00044 #include <message_filters/sync_policies/exact_time.h>
00045 #include <message_filters/sync_policies/approximate_time.h>
00046 
00047 
00048 namespace jsk_pcl_ros
00049 {
00050   class ExtractIndices: public jsk_topic_tools::DiagnosticNodelet
00051   {
00052   public:
00053     typedef message_filters::sync_policies::ExactTime<
00054       PCLIndicesMsg,
00055       sensor_msgs::PointCloud2 > SyncPolicy;
00056     typedef message_filters::sync_policies::ApproximateTime<
00057       PCLIndicesMsg,
00058       sensor_msgs::PointCloud2 > ApproximateSyncPolicy;
00059 
00060     ExtractIndices(): DiagnosticNodelet("ExtractIndices") {}
00061   protected:
00062     virtual void onInit();
00063     virtual void subscribe();
00064     virtual void unsubscribe();
00065     virtual void convert(
00066       const PCLIndicesMsg::ConstPtr& indices_msg,
00067       const sensor_msgs::PointCloud2::ConstPtr& msg);
00068 
00069     bool keep_organized_;
00070     bool negative_;
00071     int max_queue_size_;
00072     bool approximate_sync_;
00073     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00074     boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> >async_;
00075     ros::Publisher pub_;
00076     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
00077     message_filters::Subscriber<PCLIndicesMsg> sub_indices_;
00078   private:
00079   };
00080 
00081 }
00082 
00083 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:43