LaserProcROS.h

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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/* 
 * Author: Chad Rockey
 */
 
#ifndef LASER_PROC_ROS_H
#define LASER_PROC_ROS_H
 
#include <ros/ros.h>
#include <laser_proc/LaserTransport.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/MultiEchoLaserScan.h>
#include <boost/thread/mutex.hpp>
 
namespace laser_proc
{ 
  class LaserProcROS
  {
  public:
    LaserProcROS(ros::NodeHandle& n, ros::NodeHandle& pnh);
    
    ~LaserProcROS();
 
  private:
 
    void scanCb(const sensor_msgs::MultiEchoLaserScanConstPtr& msg) const;
 
    void connectCb(const ros::SingleSubscriberPublisher& pub);
 
    void disconnectCb(const ros::SingleSubscriberPublisher& pub);
    
    ros::NodeHandle nh_; 
    laser_proc::LaserPublisher pub_; 
    ros::Subscriber sub_; 
    
    boost::mutex connect_mutex_; 
  };
  
  
}; // depthimage_to_laserscan
 
#endif