00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _fake_image_processing_alg_node_h_ 00026 #define _fake_image_processing_alg_node_h_ 00027 00028 //IRI-ROS 00029 #include <iri_base_algorithm/iri_base_algorithm.h> 00030 #include "fake_image_processing_alg.h" 00031 00032 //IRI external library 00033 #include "fakeImageProcesser.h" 00034 00035 //required headers for image I/O 00036 //#include <ros/ros.h> 00037 #include <image_transport/image_transport.h> 00038 #include <cv_bridge/cv_bridge.h> 00039 #include <sensor_msgs/image_encodings.h> 00040 #include <opencv2/imgproc/imgproc.hpp> 00041 #include <opencv2/highgui/highgui.hpp> 00042 00043 // [publisher subscriber headers] 00044 00045 // [service client headers] 00046 00047 // [action server client headers] 00048 00049 //namespaces renaming 00050 namespace enc = sensor_msgs::image_encodings; 00051 00056 class FakeImageProcessingAlgNode : public algorithm_base::IriBaseAlgorithm<FakeImageProcessingAlgorithm> 00057 { 00058 private: 00059 00060 image_transport::ImageTransport it_; 00061 00062 // [publisher attributes] 00063 image_transport::Publisher image_pub_; 00064 00065 // [subscriber attributes] 00066 image_transport::Subscriber image_sub_; 00067 void image_callback(const sensor_msgs::ImageConstPtr& msg); 00068 00069 // [service attributes] 00070 00071 // [client attributes] 00072 00073 // [action server attributes] 00074 00075 // [action client attributes] 00076 00077 //class variables 00078 CfakeImageProcesser myLib; 00079 cv_bridge::CvImagePtr cv_ptr; 00080 00081 public: 00088 FakeImageProcessingAlgNode(void); 00089 00096 ~FakeImageProcessingAlgNode(void); 00097 00098 protected: 00111 void mainNodeThread(void); 00112 00125 void node_config_update(Config &config, uint32_t level); 00126 00133 void addNodeDiagnostics(void); 00134 00135 // [diagnostic functions] 00136 00137 // [test functions] 00138 }; 00139 00140 #endif 00141