vision_reconfigure.h

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#ifndef VISION_RECONFIGURE_HH
#define VISION_RECONFIGURE_HH

#include <ros/ros.h>
#if ROS_VERSION_MINIMUM(1, 3, 1)
#include <std_msgs/Header.h>
#else
#include <roslib/Header.h>
#endif
#include <std_msgs/Int32.h>
#include <dynamic_reconfigure/server.h>
#include <boost/thread/thread.hpp>
#include <gazebo_plugins/CameraSynchronizerConfig.h>

#include <ros/callback_queue.h>

class VisionReconfigure
{
  public:
    VisionReconfigure();

    ~VisionReconfigure();

    void ReconfigureCallback(gazebo_plugins::CameraSynchronizerConfig &config, uint32_t level);
    void QueueThread();
    void spinOnce();
    void spin(double spin_frequency);

  private:
    ros::NodeHandle nh_;
    ros::Publisher pub_projector_;
    ros::Publisher pub_header_;
    dynamic_reconfigure::Server<gazebo_plugins::CameraSynchronizerConfig> srv_;
    std_msgs::Int32 projector_msg_;
    ros::CallbackQueue queue_;
    boost::thread callback_queue_thread_;

};

#endif