laserscan_kinect_node.h

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#pragma once

#include <mutex>

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/LaserScan.h>
#include <dynamic_reconfigure/server.h>

#include <laserscan_kinect/LaserscanKinectConfig.h>
#include <laserscan_kinect/laserscan_kinect.h>

namespace laserscan_kinect {

class LaserScanKinectNode {
 public:
  LaserScanKinectNode(ros::NodeHandle& pnh);
  ~LaserScanKinectNode();

private:
  void depthCb(const sensor_msgs::ImageConstPtr& depth_msg,
               const sensor_msgs::CameraInfoConstPtr& info_msg);
  void connectCb();
  void disconnectCb();
  void reconfigureCb(laserscan_kinect::LaserscanKinectConfig &config, uint32_t level);

  ros::NodeHandle pnh_;
  image_transport::ImageTransport it_;
  image_transport::CameraSubscriber sub_;
  ros::Publisher pub_;
  image_transport::Publisher pub_dbg_img_;
  dynamic_reconfigure::Server<laserscan_kinect::LaserscanKinectConfig> srv_;
  laserscan_kinect::LaserScanKinect converter_;
  std::mutex connect_mutex_;
};

} // namespace laserscan_kinect