Class PointCloudMonitor

Class Documentation

class PointCloudMonitor

Public Functions

PointCloudMonitor()

Constructor

~PointCloudMonitor()

Destructor

bool startPointCloudMonitoring(rosNodePtr nh, int timeout_millisec = READ_TIMEOUT_MILLISEC_KILL_NODE, const std::string &ros_cloud_topic = "cloud")
void stopPointCloudMonitoring(void)

Protected Functions

void messageCbPointCloud(const ros_sensor_msgs::PointCloud2 &msg)

Callback for point cloud messages

void messageCbPointCloudROS2(const std::shared_ptr<ros_sensor_msgs::PointCloud2> msg)

ROS2-callback for point cloud messages

void runMonitoringThreadCb(void)

Protected Attributes

rosNodePtr m_nh
int m_timeout_millisec
std::string m_ros_cloud_topic
uint64_t m_last_msg_timestamp_nanosec
bool m_monitoring_thread_running
std::thread *m_monitoring_thread