pps.h

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#ifndef MULTISENSE_ROS_PPS_H
#define MULTISENSE_ROS_PPS_H
 
#include <ros/ros.h>
 
#include <multisense_lib/MultiSenseChannel.hh>
 
namespace multisense_ros {
 
class Pps {
public:
 
    Pps(crl::multisense::Channel* driver);
    ~Pps();
 
    void ppsCallback(const crl::multisense::pps::Header& header);
 
private:
 
    //
    // CRL sensor API
 
    crl::multisense::Channel* driver_;
 
    //
    // Driver nodes
 
    ros::NodeHandle device_nh_;
 
    //
    // PPS publisher
 
    ros::Publisher pps_pub_;
 
    ros::Publisher stamped_pps_pub_;
 
    //
    // Publish control
 
    int32_t subscribers_;
    void connect();
    void disconnect();
};
 
}
 
#endif