00001 #pragma once 00002 00003 #include <base_realsense_node.h> 00004 00005 namespace realsense2_camera 00006 { 00007 class T265RealsenseNode : public BaseRealSenseNode 00008 { 00009 public: 00010 T265RealsenseNode(ros::NodeHandle& nodeHandle, 00011 ros::NodeHandle& privateNodeHandle, 00012 rs2::device dev, 00013 const std::string& serial_no); 00014 void publishTopics(); 00015 00016 protected: 00017 void calcAndPublishStaticTransform(const stream_index_pair& stream, const rs2::stream_profile& base_profile) override; 00018 00019 private: 00020 void initializeOdometryInput(); 00021 void setupSubscribers(); 00022 void odom_in_callback(const nav_msgs::Odometry::ConstPtr& msg); 00023 00024 ros::Subscriber _odom_subscriber; 00025 rs2::wheel_odometer _wo_snr; 00026 bool _use_odom_in; 00027 }; 00028 }