18 #ifndef GAZEBO_ROS_PROSILICA_CAMERA_HH 19 #define GAZEBO_ROS_PROSILICA_CAMERA_HH 21 #include <boost/thread/mutex.hpp> 25 #include <gazebo/plugins/CameraPlugin.hh> 33 #include <sensor_msgs/RegionOfInterest.h> 39 #include <polled_camera/GetPolledImage.h> 55 public:
void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
58 private:
static void mouse_cb(
int event,
int x,
int y,
int flags,
void* param) { };
74 private:
void pollCallback(polled_camera::GetPolledImage::Request& req,
75 polled_camera::GetPolledImage::Response& rsp,
76 sensor_msgs::Image& image, sensor_msgs::CameraInfo& info);
97 unsigned int _width,
unsigned int _height,
98 unsigned int _depth,
const std::string &_format);
static void mouse_cb(int event, int x, int y, int flags, void *param)
does nothing for now
polled_camera::PublicationServer poll_srv_
image_transport
sensor_msgs::CameraInfo * roiCameraInfoMsg
event::ConnectionPtr load_connection_
sensor_msgs::Image * roiImageMsg
ros message
virtual ~GazeboRosProsilica()
Destructor.
void pollCallback(polled_camera::GetPolledImage::Request &req, polled_camera::GetPolledImage::Response &rsp, sensor_msgs::Image &image, sensor_msgs::CameraInfo &info)
virtual void OnNewImageFrame(const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
Update the controller.
std::string mode_param_name
GazeboRosProsilica()
Constructor.
void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
Load the controller.
std::string pollServiceName
ROS image topic name.