#include <rgbd_throttle.h>

Inheritance diagram for camera_throttle::RgbdCameraThrottleNodelet:

[legend]

Public Member Functions
	RgbdCameraThrottleNodelet ()=default

	~RgbdCameraThrottleNodelet () override

Public Member Functions inherited from cras::Nodelet
	~Nodelet () override=default

Public Member Functions inherited from NodeletBase<::nodelet::Nodelet >
	~NodeletBase () override=default

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

Public Member Functions inherited from NodeletWithDiagnostics< ::nodelet::Nodelet >
	NodeletWithDiagnostics ()

virtual	~NodeletWithDiagnostics ()

Public Member Functions inherited from NodeletWithSharedTfBuffer< ::nodelet::Nodelet >
::cras::NodeletAwareTFBuffer &	getBuffer () const override

::std::shared_ptr<::cras::NodeletAwareTFBuffer >	getBufferPtr () const

	NodeletWithSharedTfBuffer ()

void	reset () override

void	setBuffer (const ::std::shared_ptr<::tf2_ros::Buffer > &buffer) override

bool	usesSharedBuffer () const override

	~NodeletWithSharedTfBuffer () override

Public Member Functions inherited from ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
	~ThreadNameUpdatingNodelet () override

Public Member Functions inherited from NodeletParamHelper< ::nodelet::Nodelet >
	NodeletParamHelper ()

	~NodeletParamHelper () override

Public Member Functions inherited from cras::ParamHelper
::cras::LogHelperPtr	getLogger () const

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

	ParamHelper (const ::cras::LogHelperPtr &log)

void	setLogger (const ::cras::LogHelperPtr &logger)

virtual	~ParamHelper ()=default

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

	HasLogger (const ::cras::LogHelperPtr &log)

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Public Member Functions inherited from StatefulNodelet< ::nodelet::Nodelet >
bool	ok () const override

void	requestStop () override

void	shutdown ()

virtual	~StatefulNodelet ()

Public Member Functions inherited from cras::InterruptibleSleepInterface
	InterruptibleSleepInterface ()

virtual bool	sleep (const ::ros::Duration &duration) const

virtual	~InterruptibleSleepInterface ()

Protected Member Functions
virtual void	cb (const sensor_msgs::ImageConstPtr &rgbImg, const sensor_msgs::CameraInfoConstPtr &rgbIinfo, const sensor_msgs::ImageConstPtr &depthImg, const sensor_msgs::CameraInfoConstPtr &depthInfo)

virtual void	cbPcl (const sensor_msgs::ImageConstPtr &rgbImg, const sensor_msgs::CameraInfoConstPtr &rgbInfo, const sensor_msgs::ImageConstPtr &depthImg, const sensor_msgs::CameraInfoConstPtr &depthInfo, const sensor_msgs::PointCloud2ConstPtr &pcl)

virtual void	onFirstConnect ()

void	onInit () override

virtual void	onLastDisconnect ()

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Member Functions inherited from NodeletWithDiagnostics< ::nodelet::Nodelet >
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (ros::AdvertiseOptions &options)

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,), CRAS_SINGLE_ARG(subscriberNh, diagNh,), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,), CRAS_SINGLE_ARG(subscriberNh, diagNh,), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, ""),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),), CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace)

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace, const ::ros::Rate &defaultRate)

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace, const ::ros::Rate &defaultRate, const ::ros::Rate &defaultMinRate, const ::ros::Rate &defaultMaxRate)

::ros::NodeHandle	getDefaultDiagNh (const ::ros::NodeHandle &pubSubNh, const ::std::string &diagNamespace)

::cras::BoundParamHelperPtr	getDiagParams (const ::ros::NodeHandle &nh, const ::std::string &diagNamespace, const ::std::string &topic)

::cras::DiagnosticUpdater &	getDiagUpdater (bool forceNew=false) const

void	startDiagTimer () const

void	startDiagTimer (const ::ros::NodeHandle &nh) const

void	stopDiagTimer () const

::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::SubscribeOptions &options)

::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const ::boost::function< void(const ::boost::shared_ptr< Message > &)> &cb, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< C > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< C >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const ::boost::function< void(C)> &cb, ::ros::VoidConstPtr obj={}, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(*cb)(M), ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M) const, const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M) const, T obj, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M), const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M), T obj, ::ros::TransportHints hints={})

Protected Member Functions inherited from cras::TimeJumpResettable
void	checkTimeJump ()

virtual void	checkTimeJump (const ::ros::Time &now)

void	initRos (const ::ros::NodeHandle &pnh) override

void	startAutoCheckTimeJump ()

virtual void	startAutoCheckTimeJump (const ::ros::WallRate &rate)

virtual void	stopAutoCheckTimeJump ()

	TimeJumpResettable (const ::cras::LogHelperPtr &log)

	~TimeJumpResettable () override

Protected Member Functions inherited from cras::Resettable
	Resettable (const ::cras::LogHelperPtr &log)

virtual	~Resettable ()

Protected Member Functions inherited from ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
void	updateThreadName () const

Protected Member Functions inherited from NodeletParamHelper< ::nodelet::Nodelet >
inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

::cras::BoundParamHelperPtr	params (const ::ros::NodeHandle &node, const ::std::string &ns="") const

::cras::BoundParamHelperPtr	paramsForNodeHandle (const ::ros::NodeHandle &node) const

::cras::BoundParamHelperPtr	privateParams (const ::std::string &ns="") const

::cras::BoundParamHelperPtr	publicParams (const ::std::string &ns="") const

Protected Attributes
std::optional< std::string >	depthFrameId

ros::Time	lastUpdate

RgbdCameraPublisher	pub

std::string	pubDepthBaseName

ros::NodeHandle	pubDepthNh

std::mutex	publishersMutex

ros::NodeHandle	pubPclNh

std::string	pubRGBBaseName

ros::NodeHandle	pubRgbNh

std::unique_ptr< RgbdImageTransport >	pubTransport

size_t	queueSize {10}

std::optional< ros::Rate >	rate

std::optional< std::string >	rgbFrameId

std::optional< RgbdCameraSubscriber >	sub

std::string	subDepthBaseName

ros::NodeHandle	subDepthNh

ros::NodeHandle	subPclNh

std::string	subRGBBaseName

ros::NodeHandle	subRgbNh

bool	subscribePcl

std::unique_ptr< RgbdImageTransport >	subTransport

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Protected Attributes inherited from cras::InterruptibleSleepInterface
::ros::WallDuration	pollDuration

Private Member Functions
void	img_connect_cb (const image_transport::SingleSubscriberPublisher &)

void	img_disconnect_cb (const image_transport::SingleSubscriberPublisher &)

void	info_connect_cb (const ros::SingleSubscriberPublisher &)

void	info_disconnect_cb (const ros::SingleSubscriberPublisher &)

Detailed Description

Throttle (or just relay) a RGB and depth camera topic pair (image_raw + camera_info) and possibly pointcloud and publish the output via image_transport.

Parameters: ~rate: If set, the output topic will be rate-limited to this rate (probably a little lower). ~queue_size: Queue size for both subscription and publication. Default is 10. ~sub_rgb_base_name: Base name of the RGB input image. Default is image_raw. ~pub_rgb_base_name: Base name of the RGB output image. Default is whatever is set to ~sub_rgb_base_name. ~sub_depth_base_name: Base name of the depth input image. Default is depth. ~pub_depth_base_name: Base name of the depth output image. Default is whatever is set to ~sub_depth_base_name. ~subscribe_pcl: If true, also the pointcloud will be subscribed and throttled. Default is true. ~fix_rgb_frame_id: If set and nonempty, the RGB images and camera infos will get this frame ID instead of the one they came with. ~fix_depth_frame_id: If set and nonempty, the Depth images and camera infos will get this frame ID instead of the one they came with. ~image_transport: Specifies the image transport to use for subscribing RGB and depth. ~image_transport_rgb: Specifies the image transport to use for subscribing RGB (overrides ~image_transport). ~image_transport_depth: Specifies the image transport to use for subscribing depth (overrides ~image_transport).

Topics: camera_rgb_in: The input RGB camera topics camera_rgb_in/camera_info camera_rgb_in/<~sub_rgb_base_name> camera_depth_in: The input depth camera topics camera_depth_in/camera_info camera_depth_in/<~sub_depth_base_name> points_in: Incoming pointclouds camera_rgb_out: The output RGB camera topics camera_rgb_out/camera_info camera_rgb_out/<~sub_rgb_base_name> camera_rgb_out/<~sub_rgb_base_name>/... - the classic set of topics created by image_transport publisher camera_depth_out: The output depth camera topics camera_depth_out/camera_info camera_depth_out/<~sub_depth_base_name> camera_depth_out/<~sub_depth_base_name>/... - the classic set of topics created by image_transport publisher points_out: Outgoing pointclouds

Definition at line 49 of file rgbd_throttle.h.

Constructor & Destructor Documentation

◆ RgbdCameraThrottleNodelet()

camera_throttle::RgbdCameraThrottleNodelet::RgbdCameraThrottleNodelet ( )

default

◆ ~RgbdCameraThrottleNodelet()

camera_throttle::RgbdCameraThrottleNodelet::~RgbdCameraThrottleNodelet ( )

inlineoverride

Definition at line 52 of file rgbd_throttle.h.

Member Function Documentation

◆ cb()

void camera_throttle::RgbdCameraThrottleNodelet::cb	(	const sensor_msgs::ImageConstPtr &	rgbImg,
		const sensor_msgs::CameraInfoConstPtr &	rgbIinfo,
		const sensor_msgs::ImageConstPtr &	depthImg,
		const sensor_msgs::CameraInfoConstPtr &	depthInfo
	)

protectedvirtual

Definition at line 72 of file rgbd_throttle.cpp.

◆ cbPcl()

void camera_throttle::RgbdCameraThrottleNodelet::cbPcl	(	const sensor_msgs::ImageConstPtr &	rgbImg,
		const sensor_msgs::CameraInfoConstPtr &	rgbInfo,
		const sensor_msgs::ImageConstPtr &	depthImg,
		const sensor_msgs::CameraInfoConstPtr &	depthInfo,
		const sensor_msgs::PointCloud2ConstPtr &	pcl
	)

protectedvirtual

Definition at line 124 of file rgbd_throttle.cpp.

◆ img_connect_cb()

void camera_throttle::RgbdCameraThrottleNodelet::img_connect_cb ( const image_transport::SingleSubscriberPublisher & status )

private

Definition at line 176 of file rgbd_throttle.cpp.

◆ img_disconnect_cb()

void camera_throttle::RgbdCameraThrottleNodelet::img_disconnect_cb ( const image_transport::SingleSubscriberPublisher & status )

private

Definition at line 190 of file rgbd_throttle.cpp.

◆ info_connect_cb()

void camera_throttle::RgbdCameraThrottleNodelet::info_connect_cb ( const ros::SingleSubscriberPublisher & status )

private

Definition at line 183 of file rgbd_throttle.cpp.

◆ info_disconnect_cb()

void camera_throttle::RgbdCameraThrottleNodelet::info_disconnect_cb ( const ros::SingleSubscriberPublisher & status )

private

Definition at line 197 of file rgbd_throttle.cpp.

◆ onFirstConnect()

void camera_throttle::RgbdCameraThrottleNodelet::onFirstConnect ( )

protectedvirtual

Definition at line 204 of file rgbd_throttle.cpp.

◆ onInit()

void camera_throttle::RgbdCameraThrottleNodelet::onInit ( )

overrideprotectedvirtual

Reimplemented from NodeletBase<::nodelet::Nodelet >.

Definition at line 8 of file rgbd_throttle.cpp.

◆ onLastDisconnect()

void camera_throttle::RgbdCameraThrottleNodelet::onLastDisconnect ( )

protectedvirtual

Definition at line 223 of file rgbd_throttle.cpp.

Member Data Documentation

◆ depthFrameId

std::optional<std::string> camera_throttle::RgbdCameraThrottleNodelet::depthFrameId

protected

Definition at line 74 of file rgbd_throttle.h.

◆ lastUpdate

ros::Time camera_throttle::RgbdCameraThrottleNodelet::lastUpdate

protected

Definition at line 76 of file rgbd_throttle.h.

◆ pub

RgbdCameraPublisher camera_throttle::RgbdCameraThrottleNodelet::pub

protected

Definition at line 71 of file rgbd_throttle.h.

◆ pubDepthBaseName

std::string camera_throttle::RgbdCameraThrottleNodelet::pubDepthBaseName

protected

Definition at line 80 of file rgbd_throttle.h.

◆ pubDepthNh

ros::NodeHandle camera_throttle::RgbdCameraThrottleNodelet::pubDepthNh

protected

Definition at line 66 of file rgbd_throttle.h.

◆ publishersMutex

std::mutex camera_throttle::RgbdCameraThrottleNodelet::publishersMutex

protected

Definition at line 83 of file rgbd_throttle.h.

◆ pubPclNh

ros::NodeHandle camera_throttle::RgbdCameraThrottleNodelet::pubPclNh

protected

Definition at line 67 of file rgbd_throttle.h.

◆ pubRGBBaseName

std::string camera_throttle::RgbdCameraThrottleNodelet::pubRGBBaseName

protected

Definition at line 78 of file rgbd_throttle.h.

◆ pubRgbNh

ros::NodeHandle camera_throttle::RgbdCameraThrottleNodelet::pubRgbNh

protected

Definition at line 65 of file rgbd_throttle.h.

◆ pubTransport

std::unique_ptr<RgbdImageTransport> camera_throttle::RgbdCameraThrottleNodelet::pubTransport

protected

Definition at line 69 of file rgbd_throttle.h.

◆ queueSize

size_t camera_throttle::RgbdCameraThrottleNodelet::queueSize {10}

protected

Definition at line 75 of file rgbd_throttle.h.

◆ rate

std::optional<ros::Rate> camera_throttle::RgbdCameraThrottleNodelet::rate

protected

Definition at line 72 of file rgbd_throttle.h.

◆ rgbFrameId

std::optional<std::string> camera_throttle::RgbdCameraThrottleNodelet::rgbFrameId

protected

Definition at line 73 of file rgbd_throttle.h.

◆ sub

std::optional<RgbdCameraSubscriber> camera_throttle::RgbdCameraThrottleNodelet::sub

protected

Definition at line 70 of file rgbd_throttle.h.

◆ subDepthBaseName

std::string camera_throttle::RgbdCameraThrottleNodelet::subDepthBaseName

protected

Definition at line 79 of file rgbd_throttle.h.

◆ subDepthNh

ros::NodeHandle camera_throttle::RgbdCameraThrottleNodelet::subDepthNh

protected

Definition at line 63 of file rgbd_throttle.h.

◆ subPclNh

ros::NodeHandle camera_throttle::RgbdCameraThrottleNodelet::subPclNh

protected

Definition at line 64 of file rgbd_throttle.h.

◆ subRGBBaseName

std::string camera_throttle::RgbdCameraThrottleNodelet::subRGBBaseName

protected

Definition at line 77 of file rgbd_throttle.h.

◆ subRgbNh

ros::NodeHandle camera_throttle::RgbdCameraThrottleNodelet::subRgbNh

protected

Definition at line 62 of file rgbd_throttle.h.

◆ subscribePcl

bool camera_throttle::RgbdCameraThrottleNodelet::subscribePcl

protected

Definition at line 81 of file rgbd_throttle.h.

◆ subTransport

std::unique_ptr<RgbdImageTransport> camera_throttle::RgbdCameraThrottleNodelet::subTransport

protected

Definition at line 68 of file rgbd_throttle.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RgbdCameraThrottleNodelet()

◆ ~RgbdCameraThrottleNodelet()

Member Function Documentation

◆ cb()

◆ cbPcl()

◆ img_connect_cb()

◆ img_disconnect_cb()

◆ info_connect_cb()

◆ info_disconnect_cb()

◆ onFirstConnect()

◆ onInit()

◆ onLastDisconnect()

Member Data Documentation

◆ depthFrameId

◆ lastUpdate

◆ pub

◆ pubDepthBaseName

◆ pubDepthNh

◆ publishersMutex

◆ pubPclNh

◆ pubRGBBaseName

◆ pubRgbNh

◆ pubTransport

◆ queueSize

◆ rate

◆ rgbFrameId

◆ sub

◆ subDepthBaseName

◆ subDepthNh

◆ subPclNh

◆ subRGBBaseName

◆ subRgbNh

◆ subscribePcl

◆ subTransport