pointcloud_to_pcd.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_POINTCLOUD_TO_PCD_H_
#define JSK_PCL_POINTCLOUD_TO_PCD_H_
 
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/point_types.h>
#include <jsk_recognition_utils/tf_listener_singleton.h>
 
#include <sensor_msgs/PointCloud2.h>
#include <std_srvs/Empty.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_pcl_ros_utils/PointCloudToPCDConfig.h>
 
namespace jsk_pcl_ros_utils
{
  class PointCloudToPCD: public pcl_ros::PCLNodelet
  {
  public:
    virtual ~PointCloudToPCD();
    typedef PointCloudToPCDConfig Config;
  protected:
    virtual void onInit();
    virtual void timerCallback (const ros::TimerEvent& event);
    virtual void configCallback(Config &config, uint32_t level);
    void savePCD();
    bool savePCDCallback(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
    boost::mutex mutex_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    ros::Timer timer_;
    std::string filename_;
    std::string ext_;
    double duration_;
    std::string prefix_;
    bool binary_;
    bool compressed_;
    std::string fixed_frame_;
    tf::TransformListener* tf_listener_;
    ros::ServiceServer srv_save_pcd_server_;
  private:
  };
}
 
#endif