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 _zyonz_obtain_roi_jump_edge_based_alg_node_h_ 00026 #define _zyonz_obtain_roi_jump_edge_based_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "zyonz_obtain_roi_jump_edge_based_alg.h" 00030 00031 // [publisher subscriber headers] 00032 #include <sensor_msgs/Image.h> 00033 #include <sensor_msgs/PointCloud2.h> 00034 00035 // [service client headers] 00036 #include <zyonz_obtain_roi_jump_edge_based/ExtractTwoLeavesRoi.h> 00037 00038 // [action server client headers] 00039 00044 class ZyonzObtainRoiJumpEdgeBasedAlgNode : public algorithm_base::IriBaseAlgorithm<ZyonzObtainRoiJumpEdgeBasedAlgorithm> 00045 { 00046 private: 00047 // [publisher attributes] 00048 ros::Publisher roi_img_publisher_; 00049 ros::Publisher roi_pc_publisher_; 00050 ros::Publisher roi_pose_publisher_; 00051 00052 // [subscriber attributes] 00053 00054 // [service attributes] 00055 ros::ServiceServer extract_two_leaves_roi_server_; 00056 bool extract_two_leaves_roiCallback(zyonz_obtain_roi_jump_edge_based::ExtractTwoLeavesRoi::Request &req, zyonz_obtain_roi_jump_edge_based::ExtractTwoLeavesRoi::Response &res); 00057 CMutex extract_two_leaves_roi_mutex_; 00058 00059 // [client attributes] 00060 00061 // [action server attributes] 00062 00063 // [action client attributes] 00064 00065 public: 00072 ZyonzObtainRoiJumpEdgeBasedAlgNode(void); 00073 00080 ~ZyonzObtainRoiJumpEdgeBasedAlgNode(void); 00081 00082 protected: 00095 void mainNodeThread(void); 00096 00109 void node_config_update(Config &config, uint32_t level); 00110 00117 void addNodeDiagnostics(void); 00118 00119 // [diagnostic functions] 00120 00121 // [test functions] 00122 }; 00123 00124 #endif