BVSonarRos.hpp

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#ifndef BVSONARROS_HPP_
#define BVSONARROS_HPP_

#include <labust/blueview/blueviewfwd.hpp>

#include <dynamic_reconfigure/server.h>
#include <bvt_sdk/BVSonarConfig.h>
#include <nodelet/nodelet.h>
#include <ros/ros.h>

#include <boost/thread.hpp>

namespace labust
{
        namespace blueview
        {
                class BVSonarRos : public nodelet::Nodelet
                {
                public:
                        BVSonarRos();
                        ~BVSonarRos();

                        void run();

                        void onInit();

                private:
                        ros::NodeHandle nhandle,phandle;
                        ros::Publisher imageTopic, cImageTopic;

                        void runFileAcquisition();
                        void dynrec(bvt_sdk::BVSonarConfig& config, uint32_t level);

                  dynamic_reconfigure::Server<bvt_sdk::BVSonarConfig> server;
                        labust::blueview::BVSonarPtr sonar;
                        labust::blueview::BVColorMapperPtr mapper;
                        BVTHead head;
                        int pingRate;
                        bvt_sdk::BVSonarConfig config;
                        boost::thread worker;
                };
        }
}

/* BVSONARROS_HPP_ */
#endif