cam3d_throttle.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#include "ros/ros.h"
#include "pluginlib/class_list_macros.h"
#include "nodelet/nodelet.h"
 
#include "sensor_msgs/PointCloud2.h"
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
 
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
 
 
namespace cob_cam3d_throttle
{
typedef sensor_msgs::PointCloud2 tPointCloud;
typedef sensor_msgs::Image tImage;
typedef sensor_msgs::CameraInfo tCameraInfo;
//typedef message_filters::sync_policies::ApproximateTime<tPointCloud, tImage, tCameraInfo, tImage, tPointCloud> tSyncPolicy;
typedef message_filters::sync_policies::ApproximateTime<tPointCloud, tImage, tCameraInfo> tSyncPolicy;
 
class Cam3DThrottle : public nodelet::Nodelet
{
public:
  //Constructor
  Cam3DThrottle() :
    max_update_rate_(0),
    sub_counter_(0),
    sync_(tSyncPolicy(3))
  {
  };
 
private:
  virtual void onInit()
  {
    nh_ = getNodeHandle();
    ros::NodeHandle& private_nh = getPrivateNodeHandle();
 
    private_nh.getParam("max_rate", max_update_rate_);
 
    rgb_cloud_pub_ = nh_.advertise<tPointCloud>("rgb_cloud_out", 1, boost::bind(&Cam3DThrottle::connectCB, this, _1), boost::bind(&Cam3DThrottle::disconnectCB, this, _1));
    rgb_image_pub_ = nh_.advertise<tImage>("rgb_image_out", 1, boost::bind(&Cam3DThrottle::connectCB, this, _1), boost::bind(&Cam3DThrottle::disconnectCB, this, _1));
    rgb_caminfo_pub_ = nh_.advertise<tCameraInfo>("rgb_caminfo_out", 1, boost::bind(&Cam3DThrottle::connectCB, this, _1), boost::bind(&Cam3DThrottle::disconnectCB, this, _1));
    depth_image_pub_ = nh_.advertise<tImage>("depth_image_out", 1, boost::bind(&Cam3DThrottle::connectCB, this, _1), boost::bind(&Cam3DThrottle::disconnectCB, this, _1));
    cloud_pub_ = nh_.advertise<tPointCloud>("cloud_out", 1, boost::bind(&Cam3DThrottle::connectCB, this, _1), boost::bind(&Cam3DThrottle::disconnectCB, this, _1));
 
    last_update_ = ros::Time::now();
    //sync_.connectInput(rgb_cloud_sub_, rgb_image_sub_, rgb_caminfo_sub_, depth_image_sub_, cloud_sub_);
    //sync_.registerCallback(boost::bind(&Cam3DThrottle::callback, this, _1, _2, _3, _4, _5));
    sync_.connectInput(rgb_cloud_sub_, rgb_image_sub_, rgb_caminfo_sub_);
    sync_.registerCallback(boost::bind(&Cam3DThrottle::callback, this, _1, _2, _3));
  };
 
/*  void callback(const tPointCloud::ConstPtr& rgb_cloud,
                const tImage::ConstPtr& rgb_image,
                const tCameraInfo::ConstPtr& rgb_caminfo,
                const tImage::ConstPtr& depth_image,
                const tPointCloud::ConstPtr& cloud
                )
  {
    if (max_update_rate_ > 0.0)
    {
      NODELET_DEBUG("update set to %f", max_update_rate_);
      if ( last_update_ + ros::Duration(1.0/max_update_rate_) > ros::Time::now())
      {
        NODELET_DEBUG("throttle last update at %f skipping", last_update_.toSec());
        return;
      }
    }
    else
      NODELET_DEBUG("update_rate unset continuing");
    last_update_ = ros::Time::now();
    rgb_cloud_pub_.publish(rgb_cloud);
    rgb_image_pub_.publish(rgb_image);
    rgb_caminfo_pub_.publish(rgb_caminfo);
    depth_image_pub_.publish(depth_image);
    cloud_pub_.publish(cloud);
  }*/
  
  void callback(const tPointCloud::ConstPtr& rgb_cloud,
                const tImage::ConstPtr& rgb_image,
                const tCameraInfo::ConstPtr& rgb_caminfo
                )
  {
    
    if (max_update_rate_ > 0.0)
    {
      NODELET_DEBUG("update set to %f", max_update_rate_);
      //std::cout << "update rate: " << max_update_rate_ << std::endl;
      if ( last_update_ + ros::Duration(1.0/max_update_rate_) > ros::Time::now())
      {
        //std::cout << "last_update[s] " << last_update_.toSec() << std::endl;
        NODELET_DEBUG("throttle last update at %f skipping", last_update_.toSec());
        return;
      }
    }
    else
    {
      NODELET_DEBUG("update_rate unset continuing");
    }
    //std::cout << "publishing" << std::endl;
    last_update_ = ros::Time::now();
    rgb_cloud_pub_.publish(rgb_cloud);
    rgb_image_pub_.publish(rgb_image);
    rgb_caminfo_pub_.publish(rgb_caminfo);
  }
 
  void connectCB(const ros::SingleSubscriberPublisher& pub)
  {
    sub_counter_++;
    //std::cout << "connectCB: "<<  sub_counter_ << std::endl;
    if(sub_counter_ == 1)
    {
      ROS_DEBUG("connecting");
      rgb_cloud_sub_.subscribe(nh_, "rgb_cloud_in", 1);
      rgb_image_sub_.subscribe(nh_, "rgb_image_in", 1);
      rgb_caminfo_sub_.subscribe(nh_, "rgb_caminfo_in", 1);
//      depth_image_sub_.subscribe(nh_, "depth_image_in", 1);
//      cloud_sub_.subscribe(nh_, "cloud_in", 1);
    }
  }
 
  void disconnectCB(const ros::SingleSubscriberPublisher& pub)
  {
    sub_counter_--;
    if(sub_counter_ == 0)
    {
      ROS_DEBUG("disconnecting");
      rgb_cloud_sub_.unsubscribe();
      rgb_image_sub_.unsubscribe();
      rgb_caminfo_sub_.unsubscribe();
//      depth_image_sub_.unsubscribe();
//      cloud_sub_.unsubscribe();
    }
  }
 
  ros::Time last_update_;
  double max_update_rate_;
  unsigned int sub_counter_;
 
  ros::NodeHandle nh_;
  ros::Subscriber sub_;
  ros::Subscriber sub2_;
  ros::Publisher rgb_cloud_pub_, rgb_image_pub_, rgb_caminfo_pub_, depth_image_pub_, cloud_pub_;
 
  message_filters::Subscriber<tPointCloud> rgb_cloud_sub_;
  message_filters::Subscriber<tImage> rgb_image_sub_;
  message_filters::Subscriber<tCameraInfo> rgb_caminfo_sub_;
  message_filters::Subscriber<tImage> depth_image_sub_;
  message_filters::Subscriber<tPointCloud> cloud_sub_;
  message_filters::Synchronizer<tSyncPolicy> sync_;
 
};
 
 
PLUGINLIB_EXPORT_CLASS(cob_cam3d_throttle::Cam3DThrottle, nodelet::Nodelet);
}