laserscan_kinect_node.cpp

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 * Copyright (c) 2015, Michal Drwiega (drwiega.michal@gmail.com)
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#include <laserscan_kinect/laserscan_kinect_node.h>

using namespace laserscan_kinect;

//=================================================================================================
LaserScanKinectNode::LaserScanKinectNode(ros::NodeHandle& n, ros::NodeHandle& pnh) :
  pnh_(pnh), it_(n), srv_(pnh)
{
  boost::mutex::scoped_lock lock(connect_mutex_);

  // Dynamic reconfigure server callback
  srv_.setCallback(boost::bind(&LaserScanKinectNode::reconfigureCb, this, _1, _2));
  
  // Subscription to depth image topic
  pub_ = n.advertise<sensor_msgs::LaserScan>("scan", 10,
                                             boost::bind(&LaserScanKinectNode::connectCb, this, _1),
                                             boost::bind(&LaserScanKinectNode::disconnectCb, this, _1));
}

//=================================================================================================
LaserScanKinectNode::~LaserScanKinectNode()
{
  sub_.shutdown();
}

//=================================================================================================
void LaserScanKinectNode::depthCb(const sensor_msgs::ImageConstPtr& depth_msg,
                                  const sensor_msgs::CameraInfoConstPtr& info_msg)
{
  try
  {
    sensor_msgs::LaserScanPtr laserscan_msg = converter_.prepareLaserScanMsg(depth_msg, info_msg);
    pub_.publish(laserscan_msg);
  }
  catch (std::runtime_error& e)
  {
    ROS_ERROR_THROTTLE(1.0, "Could not convert depth image to laserscan: %s", e.what());
  }
}

//=================================================================================================
void LaserScanKinectNode::connectCb(const ros::SingleSubscriberPublisher& pub)
{
  boost::mutex::scoped_lock lock(connect_mutex_);
  if (!sub_ && pub_.getNumSubscribers() > 0)
  {
    ROS_DEBUG("Connecting to depth topic.");
    image_transport::TransportHints hints("raw", ros::TransportHints(), pnh_);
    sub_ = it_.subscribeCamera("image", 10, &LaserScanKinectNode::depthCb, this, hints);
  }
}

//=================================================================================================
void LaserScanKinectNode::disconnectCb(const ros::SingleSubscriberPublisher& pub)
{
  boost::mutex::scoped_lock lock(connect_mutex_);
  if (pub_.getNumSubscribers() == 0)
  {
    ROS_DEBUG("Unsubscribing from depth topic.");
    sub_.shutdown();
  }
}

//=================================================================================================
void LaserScanKinectNode::reconfigureCb(laserscan_kinect::LaserscanKinectConfig& config,
                                        uint32_t level)
{
  converter_.setOutputFrame(config.output_frame_id);
  converter_.setRangeLimits(config.range_min, config.range_max);
  converter_.setScanHeight(config.scan_height);
  converter_.setDepthImgRowStep(config.depth_img_row_step);
  converter_.setCamModelUpdate(config.cam_model_update);

  converter_.setSensorMountHeight(config.sensor_mount_height);
  converter_.setSensorTiltAngle(config.sensor_tilt_angle);
  converter_.setGroundRemove(config.ground_remove_en);
  converter_.setGroundMargin(config.ground_margin);
  converter_.setTiltCompensation(config.tilt_compensation_en);

  converter_.setScanConfigurated(false);
}

//=================================================================================================
//=================================================================================================