#include <BVSonarRos.hpp>

Inheritance diagram for labust::blueview::BVSonarRos:

Public Member Functions
	BVSonarRos ()
void	onInit ()
void	run ()
	~BVSonarRos ()
Private Member Functions
void	dynrec (bvt_sdk::BVSonarConfig &config, uint32_t level)
void	runFileAcquisition ()
Private Attributes
ros::Publisher	cImageTopic
bvt_sdk::BVSonarConfig	config
BVTHead	head
ros::Publisher	imageTopic
labust::blueview::BVColorMapperPtr	mapper
ros::NodeHandle	nhandle
ros::NodeHandle	phandle
int	pingRate
dynamic_reconfigure::Server < bvt_sdk::BVSonarConfig >	server
labust::blueview::BVSonarPtr	sonar
boost::thread	worker

Detailed Description

The BlueView sonar class implementation for the ROS node.

Todo:

Add life streaming

Add navigation data subscription and handling.

Add logging of sonar pings with navigation data.

Add bzip2 compression instead pure image transmission

Add jpeg compression instead of pure image transmission

Add ROI extraction ?.

Definition at line 59 of file BVSonarRos.hpp.

Constructor & Destructor Documentation

BVSonarRos::BVSonarRos ( )

Main constructor.

Definition at line 43 of file BVSonarRos.cpp.

BVSonarRos::~BVSonarRos ( )

Generic destructor.

Definition at line 48 of file BVSonarRos.cpp.

Member Function Documentation

void BVSonarRos::dynrec	(	bvt_sdk::BVSonarConfig &	config,
		uint32_t	level
	)		`[private]`

Dynamic reconfigure service.

Definition at line 101 of file BVSonarRos.cpp.

void BVSonarRos::onInit ( ) [virtual]

Configures the sonar for reading.

Implements nodelet::Nodelet.

Definition at line 53 of file BVSonarRos.cpp.

void BVSonarRos::run ( )

The main method that performs acquisition.

Definition at line 106 of file BVSonarRos.cpp.

void BVSonarRos::runFileAcquisition ( ) [private]

Acquisition when we have a file.

Definition at line 111 of file BVSonarRos.cpp.

Member Data Documentation

ros::Publisher labust::blueview::BVSonarRos::cImageTopic [private]

Definition at line 89 of file BVSonarRos.hpp.

bvt_sdk::BVSonarConfig labust::blueview::BVSonarRos::config [private]

The maximum range.

Definition at line 123 of file BVSonarRos.hpp.

BVTHead labust::blueview::BVSonarRos::head [private]

The sonar head to read from.

Definition at line 115 of file BVSonarRos.hpp.

ros::Publisher labust::blueview::BVSonarRos::imageTopic [private]

The magnitude and color image publishers.

Definition at line 89 of file BVSonarRos.hpp.

labust::blueview::BVColorMapperPtr labust::blueview::BVSonarRos::mapper [private]

The colormap object.

Definition at line 111 of file BVSonarRos.hpp.

ros::NodeHandle labust::blueview::BVSonarRos::nhandle [private]

The ROS node handle and private handle.

Definition at line 85 of file BVSonarRos.hpp.

ros::NodeHandle labust::blueview::BVSonarRos::phandle [private]

Definition at line 85 of file BVSonarRos.hpp.

int labust::blueview::BVSonarRos::pingRate [private]

The ping rate.

Definition at line 119 of file BVSonarRos.hpp.

dynamic_reconfigure::Server<bvt_sdk::BVSonarConfig> labust::blueview::BVSonarRos::server [private]

The dynamic reconfigure server.

Definition at line 103 of file BVSonarRos.hpp.

labust::blueview::BVSonarPtr labust::blueview::BVSonarRos::sonar [private]

The sonar object.

Definition at line 107 of file BVSonarRos.hpp.

boost::thread labust::blueview::BVSonarRos::worker [private]

The worker thread.

Definition at line 127 of file BVSonarRos.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation