zr300_nodelet.h

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#pragma once
#ifndef REALSENSE_CAMERA_ZR300_NODELET_H
#define REALSENSE_CAMERA_ZR300_NODELET_H

#include <string>
#include <vector>

#include <dynamic_reconfigure/server.h>
#include <sensor_msgs/Imu.h>

#include <realsense_camera/zr300_paramsConfig.h>
#include <realsense_camera/IMUInfo.h>
#include <realsense_camera/GetIMUInfo.h>
#include <realsense_camera/base_nodelet.h>

namespace realsense_camera
{
class ZR300Nodelet: public realsense_camera::BaseNodelet
{
public:
  ~ZR300Nodelet();
  void onInit();

protected:
  // Member Variables.
  ros::ServiceServer get_imu_info_;
  boost::shared_ptr<dynamic_reconfigure::Server<realsense_camera::zr300_paramsConfig>> dynamic_reconf_server_;
  bool enable_imu_;
  std::string imu_frame_id_;
  std::string imu_optical_frame_id_;
  geometry_msgs::Vector3 imu_angular_vel_;
  geometry_msgs::Vector3 imu_linear_accel_;
  double imu_ts_;
  double prev_imu_ts_;
  ros::Publisher imu_publisher_;
  boost::shared_ptr<boost::thread> imu_thread_;
  std::function<void(rs::motion_data)> motion_handler_;
  std::function<void(rs::timestamp_data)> timestamp_handler_;
  std::mutex imu_mutex_;

  rs_extrinsics color2ir2_extrinsic_;      // color frame is base frame
  rs_extrinsics color2fisheye_extrinsic_;  // color frame is base frame
  rs_extrinsics color2imu_extrinsic_;      // color frame is base frame

  // Member Functions.
  void getParameters();
  void advertiseTopics();
  void advertiseServices();
  bool getIMUInfo(realsense_camera::GetIMUInfo::Request & req, realsense_camera::GetIMUInfo::Response & res);
  std::vector<std::string> setDynamicReconfServer();
  void startDynamicReconfCallback();
  void setDynamicReconfigDepthControlPreset(int preset);
  std::string setDynamicReconfigDepthControlIndividuals();
  void configCallback(realsense_camera::zr300_paramsConfig &config, uint32_t level);
  void getCameraExtrinsics();
  void publishStaticTransforms();
  void publishDynamicTransforms();
  void publishIMU();
  void setStreams();
  void setIMUCallbacks();
  void setFrameCallbacks();
  std::function<void(rs::frame f)> fisheye_frame_handler_, ir2_frame_handler_;
  void stopIMU();
};
}  // namespace realsense_camera
#endif  // REALSENSE_CAMERA_ZR300_NODELET_H