IRI ROS Specific Algorithm Class. More...

#include <image_publisher_alg_node.h>

Inheritance diagram for ImagePublisherAlgNode:

Public Member Functions
	ImagePublisherAlgNode (void)
	Constructor.
	~ImagePublisherAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Attributes
cv_bridge::CvImage	cv_image
std::string	filename_
bool	image_loaded
image_transport::Publisher	image_pub_
image_transport::ImageTransport	imgtransport_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 48 of file image_publisher_alg_node.h.

Constructor & Destructor Documentation

ImagePublisherAlgNode::ImagePublisherAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file image_publisher_alg_node.cpp.

ImagePublisherAlgNode::~ImagePublisherAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 42 of file image_publisher_alg_node.cpp.

Member Function Documentation

void ImagePublisherAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< ImagePublisherAlgorithm >.

Definition at line 97 of file image_publisher_alg_node.cpp.

void ImagePublisherAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< ImagePublisherAlgorithm >.

Definition at line 47 of file image_publisher_alg_node.cpp.

void ImagePublisherAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< ImagePublisherAlgorithm >.

Definition at line 73 of file image_publisher_alg_node.cpp.