rgbd_throttle.h

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#pragma once
 
#include <memory>
#include <mutex>
#include <optional>
 
#include <cras_cpp_common/nodelet_utils.hpp>
#include <camera_throttle/rgbd_camera_subscriber.h>
#include <camera_throttle/rgbd_camera_publisher.h>
 
namespace camera_throttle
{
 
class RgbdCameraThrottleNodelet : public cras::Nodelet
{
  public: RgbdCameraThrottleNodelet() = default;
  public: ~RgbdCameraThrottleNodelet() override {};
 
  protected: void onInit() override;
 
  protected: virtual void cb(const sensor_msgs::ImageConstPtr& rgbImg, const sensor_msgs::CameraInfoConstPtr& rgbIinfo, const sensor_msgs::ImageConstPtr& depthImg, const sensor_msgs::CameraInfoConstPtr& depthInfo);
  protected: 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);
 
  protected: virtual void onFirstConnect();
  protected: virtual void onLastDisconnect();
 
  protected: ros::NodeHandle subRgbNh;
  protected: ros::NodeHandle subDepthNh;
  protected: ros::NodeHandle subPclNh;
  protected: ros::NodeHandle pubRgbNh;
  protected: ros::NodeHandle pubDepthNh;
  protected: ros::NodeHandle pubPclNh;
  protected: std::unique_ptr<RgbdImageTransport> subTransport;
  protected: std::unique_ptr<RgbdImageTransport> pubTransport;
  protected: std::optional<RgbdCameraSubscriber> sub;
  protected: RgbdCameraPublisher pub;
  protected: std::optional<ros::Rate> rate;
  protected: std::optional<std::string> rgbFrameId;
  protected: std::optional<std::string> depthFrameId;
  protected: size_t queueSize {10};
  protected: ros::Time lastUpdate;
  protected: std::string subRGBBaseName;
  protected: std::string pubRGBBaseName;
  protected: std::string subDepthBaseName;
  protected: std::string pubDepthBaseName;
  protected: bool subscribePcl;
 
  protected: std::mutex publishersMutex;
 
  private: void img_connect_cb(const image_transport::SingleSubscriberPublisher&);
  private: void info_connect_cb(const ros::SingleSubscriberPublisher&);
  private: void img_disconnect_cb(const image_transport::SingleSubscriberPublisher&);
  private: void info_disconnect_cb(const ros::SingleSubscriberPublisher&);
};
 
}