sync_nodelet.h

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#pragma once
#ifndef REALSENSE_CAMERA_SYNC_NODELET_H
#define REALSENSE_CAMERA_SYNC_NODELET_H

#include <realsense_camera/base_nodelet.h>
#include <boost/thread.hpp>

namespace realsense_camera
{
class SyncNodelet: public realsense_camera::BaseNodelet
{
public:
  // Interfaces.
  virtual ~SyncNodelet();
  virtual void onInit();

protected:
  boost::shared_ptr<boost::thread> topic_thread_;
  bool duplicate_depth_color_ = false;
  ros::Time topic_ts_;

  virtual void setFrameCallbacks() { }  // don't set callbacks!
  virtual void publishSyncTopics();
  virtual void publishTopic(rs_stream stream_index);
  virtual void setImageData(rs_stream stream_index);
};
}  // namespace realsense_camera
#endif  // REALSENSE_CAMERA_SYNC_NODELET_H