#include <cliff_detector_node.h>

Public Member Functions
	CliffDetectorNode (ros::NodeHandle &n, ros::NodeHandle &pnh)

unsigned int	getNodeRate ()
	getNodeRate gets rate of data processing loop in node. More...

void	setNodeRate (const unsigned int rate)
	setNodeRate sets rate of processing data loop in node. More...

	~CliffDetectorNode ()

Private Member Functions
void	connectCb ()
	connectCb is callback which is called when new subscriber connected. More...

void	depthCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
	depthCb is callback which is called when new depth image appear More...

void	disconnectCb ()
	disconnectCb is called when a subscriber stop subscribing More...

void	reconfigureCb (cliff_detector::CliffDetectorConfig &config, uint32_t level)
	reconfigureCb is dynamic reconfigure callback More...

Private Attributes
boost::mutex	connection_mutex_
	Prevents the connectCb and disconnectCb from being called until everything is initialized. More...

cliff_detector::CliffDetector	detector_
	Contains cliff detection method implementation. More...

image_transport::ImageTransport	it_
	Subscribes to synchronized Image CameraInfo pairs. More...

unsigned int	node_rate_hz_

ros::NodeHandle	pnh_
	Private node handler used to generate the transport hints in the connectCb. More...

image_transport::Publisher	pub_
	Publisher for image_transport. More...

ros::Publisher	pub_points_
	Publisher for publishing messages with stairs points. More...

dynamic_reconfigure::Server< cliff_detector::CliffDetectorConfig >	reconf_srv_
	Dynamic reconfigure server. More...

image_transport::CameraSubscriber	sub_
	Subscriber for image_transport. More...

Detailed Description

Definition at line 22 of file cliff_detector_node.h.

Constructor & Destructor Documentation

cliff_detector::CliffDetectorNode::CliffDetectorNode	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pnh
	)

Definition at line 5 of file cliff_detector_node.cpp.

cliff_detector::CliffDetectorNode::~CliffDetectorNode ( )

Definition at line 21 of file cliff_detector_node.cpp.

Member Function Documentation

void cliff_detector::CliffDetectorNode::connectCb ( )

private

connectCb is callback which is called when new subscriber connected.

It allow to subscribe depth image and publish laserscan message only when is laserscan subscriber appear.

Parameters

pub	Publisher which subscribers are checked.

Definition at line 57 of file cliff_detector_node.cpp.

void cliff_detector::CliffDetectorNode::depthCb	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

private

depthCb is callback which is called when new depth image appear

Callback for depth image and camera info. It converts depth image to laserscan and publishes it at the end.

Parameters

depth_msg	Depth image provided by image_transport.
info_msg	CameraInfo provided by image_transport.

Definition at line 38 of file cliff_detector_node.cpp.

void cliff_detector::CliffDetectorNode::disconnectCb ( )

private

disconnectCb is called when a subscriber stop subscribing

When no one subscribers subscribe laserscan topic, then it stop to subscribe depth image.

Parameters

pub	Publisher which subscribers are checked.

Definition at line 66 of file cliff_detector_node.cpp.

unsigned int cliff_detector::CliffDetectorNode::getNodeRate ( )

getNodeRate gets rate of data processing loop in node.

Returns: Returns data processing loop rate in Hz.

Definition at line 34 of file cliff_detector_node.cpp.

void cliff_detector::CliffDetectorNode::reconfigureCb	(	cliff_detector::CliffDetectorConfig &	config,
		uint32_t	level
	)

private

reconfigureCb is dynamic reconfigure callback

Callback is necessary to set ROS parameters with dynamic reconfigure server.

Parameters

config	Dynamic Reconfigure object.
level	Dynamic Reconfigure level.

Definition at line 74 of file cliff_detector_node.cpp.

void cliff_detector::CliffDetectorNode::setNodeRate ( const unsigned int rate )

setNodeRate sets rate of processing data loop in node.

Parameters

rate	Frequency of data processing loop in Hz.

Definition at line 25 of file cliff_detector_node.cpp.

Member Data Documentation

boost::mutex cliff_detector::CliffDetectorNode::connection_mutex_

private

Prevents the connectCb and disconnectCb from being called until everything is initialized.

Definition at line 96 of file cliff_detector_node.h.

cliff_detector::CliffDetector cliff_detector::CliffDetectorNode::detector_

private

Contains cliff detection method implementation.

Definition at line 94 of file cliff_detector_node.h.

image_transport::ImageTransport cliff_detector::CliffDetectorNode::it_

private

Subscribes to synchronized Image CameraInfo pairs.

Definition at line 84 of file cliff_detector_node.h.

unsigned int cliff_detector::CliffDetectorNode::node_rate_hz_

private

Definition at line 80 of file cliff_detector_node.h.

ros::NodeHandle cliff_detector::CliffDetectorNode::pnh_

private

Private node handler used to generate the transport hints in the connectCb.

Definition at line 82 of file cliff_detector_node.h.

image_transport::Publisher cliff_detector::CliffDetectorNode::pub_

private

Publisher for image_transport.

Definition at line 88 of file cliff_detector_node.h.

ros::Publisher cliff_detector::CliffDetectorNode::pub_points_

private

Publisher for publishing messages with stairs points.

Definition at line 90 of file cliff_detector_node.h.

dynamic_reconfigure::Server<cliff_detector::CliffDetectorConfig> cliff_detector::CliffDetectorNode::reconf_srv_

private

Dynamic reconfigure server.

Definition at line 92 of file cliff_detector_node.h.

image_transport::CameraSubscriber cliff_detector::CliffDetectorNode::sub_

private

Subscriber for image_transport.

Definition at line 86 of file cliff_detector_node.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation