f200_nodelet.h

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#pragma once
#ifndef REALSENSE_CAMERA_F200_NODELET_H
#define REALSENSE_CAMERA_F200_NODELET_H

#include <string>
#include <vector>
#include <dynamic_reconfigure/server.h>

#include <realsense_camera/f200_paramsConfig.h>
#include <realsense_camera/sync_nodelet.h>

namespace realsense_camera
{
class F200Nodelet: public realsense_camera::SyncNodelet
{
public:
  void onInit();

protected:
  // Member Variables.
  boost::shared_ptr<dynamic_reconfigure::Server<realsense_camera::f200_paramsConfig>> dynamic_reconf_server_;
  rs_stream fastest_stream_ = RS_STREAM_DEPTH;

  // Member Functions.
  void setStreams();
  std::vector<std::string> setDynamicReconfServer();
  void startDynamicReconfCallback();
  void configCallback(realsense_camera::f200_paramsConfig &config, uint32_t level);
};
}  // namespace realsense_camera
#endif  // REALSENSE_CAMERA_F200_NODELET_H