depthimage_to_laserscan::DepthImageToLaserScanROS Class Reference

#include <DepthImageToLaserScanROS.h>

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

Private Member Functions
void	connectCb (const ros::SingleSubscriberPublisher &pub)
void	depthCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	disconnectCb (const ros::SingleSubscriberPublisher &pub)
void	reconfigureCb (depthimage_to_laserscan::DepthConfig &config, uint32_t level)

Private Attributes
boost::mutex	connect_mutex_
	Prevents the connectCb and disconnectCb from being called until everything is initialized. More...
depthimage_to_laserscan::DepthImageToLaserScan	dtl_
	Instance of the DepthImageToLaserScan conversion class. More...
image_transport::ImageTransport	it_
	Subscribes to synchronized Image CameraInfo pairs. More...
ros::NodeHandle	pnh_
	Private nodehandle used to generate the transport hints in the connectCb. More...
ros::Publisher	pub_
	Publisher for output LaserScan messages. More...
dynamic_reconfigure::Server< depthimage_to_laserscan::DepthConfig >	srv_
	Dynamic reconfigure server. More...
image_transport::CameraSubscriber	sub_
	Subscriber for image_transport. More...

Detailed Description

Definition at line 49 of file DepthImageToLaserScanROS.h.

Constructor & Destructor Documentation

DepthImageToLaserScanROS::DepthImageToLaserScanROS	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pnh
	)

Definition at line 38 of file DepthImageToLaserScanROS.cpp.

DepthImageToLaserScanROS::~DepthImageToLaserScanROS

(

)

Definition at line 50 of file DepthImageToLaserScanROS.cpp.

Member Function Documentation

void DepthImageToLaserScanROS::connectCb ( const ros::SingleSubscriberPublisher &  pub )

private

Callback that is called when there is a new subscriber.

Will not subscribe to the image and camera_info until we have a subscriber for our LaserScan (lazy subscribing).

Definition at line 69 of file DepthImageToLaserScanROS.cpp.

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

private

Callback for image_transport

Synchronized callback for depth image and camera info. Publishes laserscan at the end of this callback.

Parameters

depth_msg	Image provided by image_transport.
info_msg	CameraInfo provided by image_transport.

Definition at line 56 of file DepthImageToLaserScanROS.cpp.

void DepthImageToLaserScanROS::disconnectCb ( const ros::SingleSubscriberPublisher &  pub )

private

Callback called when a subscriber unsubscribes.

If all current subscribers of our LaserScan stop listening, stop subscribing (lazy subscribing).

Definition at line 78 of file DepthImageToLaserScanROS.cpp.

void DepthImageToLaserScanROS::reconfigureCb ( depthimage_to_laserscan::DepthConfig &  config, uint32_t  level  )

private

Dynamic reconfigure callback.

Callback that is used to set each of the parameters insde the DepthImageToLaserScan object.

Parameters

config	Dynamic Reconfigure object.
level	Dynamic Reconfigure level.

Definition at line 86 of file DepthImageToLaserScanROS.cpp.

Member Data Documentation

boost::mutex depthimage_to_laserscan::DepthImageToLaserScanROS::connect_mutex_

private

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

Definition at line 104 of file DepthImageToLaserScanROS.h.

depthimage_to_laserscan::DepthImageToLaserScan depthimage_to_laserscan::DepthImageToLaserScanROS::dtl_

private

Instance of the DepthImageToLaserScan conversion class.

Definition at line 102 of file DepthImageToLaserScanROS.h.

image_transport::ImageTransport depthimage_to_laserscan::DepthImageToLaserScanROS::it_

private

Subscribes to synchronized Image CameraInfo pairs.

Definition at line 97 of file DepthImageToLaserScanROS.h.

ros::NodeHandle depthimage_to_laserscan::DepthImageToLaserScanROS::pnh_

private

Private nodehandle used to generate the transport hints in the connectCb.

Definition at line 96 of file DepthImageToLaserScanROS.h.

ros::Publisher depthimage_to_laserscan::DepthImageToLaserScanROS::pub_

private

Publisher for output LaserScan messages.

Definition at line 99 of file DepthImageToLaserScanROS.h.

dynamic_reconfigure::Server<depthimage_to_laserscan::DepthConfig> depthimage_to_laserscan::DepthImageToLaserScanROS::srv_

private

Dynamic reconfigure server.

Definition at line 100 of file DepthImageToLaserScanROS.h.

image_transport::CameraSubscriber depthimage_to_laserscan::DepthImageToLaserScanROS::sub_

private

Subscriber for image_transport.

Definition at line 98 of file DepthImageToLaserScanROS.h.

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

• DepthImageToLaserScanROS.h
• DepthImageToLaserScanROS.cpp