echo_driver.h

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#ifndef TOPOSENS_ECHO_DRIVER_ECHO_DRIVER_H
#define TOPOSENS_ECHO_DRIVER_ECHO_DRIVER_H
 
#include <memory>
#include <vector>
 
#include <boost/thread/recursive_mutex.hpp>
 
#include <dynamic_reconfigure/server.h>
#include <ros/ros.h>
#include <tf2_ros/static_transform_broadcaster.h>
 
#include <toposens/sensor_lib.h>
 
#include "toposens_echo_driver/EchoOneDriverConfig.h"
#include "toposens_echo_driver/ros_utils.h"
 
namespace toposens_echo_driver
{
using EchoOneDriverConfigServer = dynamic_reconfigure::Server<EchoOneDriverConfig>;
 
class EchoOneDriver
{
public:
  EchoOneDriver(ros::NodeHandle nh, RosParameters parameters);
  ~EchoOneDriver();
 
  void measure();
 
  void publishStaticTransforms();
 
private:
  void initialize();
  void configureDynamicReconfigureServer();
  void reconfigure(const EchoOneDriverConfig& config, uint32_t level);
 
  ros::NodeHandle nh_;
  ros::Publisher point_cloud_publisher_, ts_scan_publisher_;
  ros::ServiceServer adc_dump_service_;
  tf2_ros::StaticTransformBroadcaster static_tf_broadcaster_;
  RosParameters parameters_;
 
  std::unique_ptr<EchoOneDriverConfigServer> dynamic_reconfigure_server_;
  boost::recursive_mutex dynamic_reconfigure_server_mutex_;
};
 
}  // namespace toposens_echo_driver
 
#endif  // TOPOSENS_ECHO_DRIVER_ECHO_DRIVER_H