#include <DepthImageToLaserScanROS.h>

Public Member Functions
	DepthImageToLaserScanROS (ros::NodeHandle &n, ros::NodeHandle &pnh)
	~DepthImageToLaserScanROS ()
Private Member Functions
void	connectCb (const ros::SingleSubscriberPublisher &pub)
void	depthCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	disconnectCb (const ros::SingleSubscriberPublisher &pub)
void	reconfigureCb (depthimage_to_laserscan::DepthConfig &config, uint32_t level)
Private Attributes
boost::mutex	connect_mutex_
	Prevents the connectCb and disconnectCb from being called until everything is initialized.
depthimage_to_laserscan::DepthImageToLaserScan	dtl_
	Instance of the DepthImageToLaserScan conversion class.
image_transport::ImageTransport	it_
	Subscribes to synchronized Image CameraInfo pairs.
ros::NodeHandle	pnh_
	Private nodehandle used to generate the transport hints in the connectCb.
ros::Publisher	pub_
	Publisher for output LaserScan messages.
dynamic_reconfigure::Server < depthimage_to_laserscan::DepthConfig >	srv_
	Dynamic reconfigure server.
image_transport::CameraSubscriber	sub_
	Subscriber for image_transport.

Detailed Description

Definition at line 49 of file DepthImageToLaserScanROS.h.

Constructor & Destructor Documentation

DepthImageToLaserScanROS::DepthImageToLaserScanROS	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pnh
	)

Definition at line 38 of file DepthImageToLaserScanROS.cpp.

DepthImageToLaserScanROS::~DepthImageToLaserScanROS ( )

Definition at line 50 of file DepthImageToLaserScanROS.cpp.

Member Function Documentation

void DepthImageToLaserScanROS::connectCb ( const ros::SingleSubscriberPublisher & pub ) [private]

Callback that is called when there is a new subscriber.

Will not subscribe to the image and camera_info until we have a subscriber for our LaserScan (lazy subscribing).

Definition at line 69 of file DepthImageToLaserScanROS.cpp.

void DepthImageToLaserScanROS::depthCb	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)		`[private]`

Callback for image_transport

Synchronized callback for depth image and camera info. Publishes laserscan at the end of this callback.

Parameters:

depth_msg	Image provided by image_transport.
info_msg	CameraInfo provided by image_transport.

Definition at line 56 of file DepthImageToLaserScanROS.cpp.

void DepthImageToLaserScanROS::disconnectCb ( const ros::SingleSubscriberPublisher & pub ) [private]

Callback called when a subscriber unsubscribes.

If all current subscribers of our LaserScan stop listening, stop subscribing (lazy subscribing).

Definition at line 78 of file DepthImageToLaserScanROS.cpp.

void DepthImageToLaserScanROS::reconfigureCb	(	depthimage_to_laserscan::DepthConfig &	config,
		uint32_t	level
	)		`[private]`

Dynamic reconfigure callback.

Callback that is used to set each of the parameters insde the DepthImageToLaserScan object.

Parameters:

config	Dynamic Reconfigure object.
level	Dynamic Reconfigure level.

Definition at line 86 of file DepthImageToLaserScanROS.cpp.

Member Data Documentation

boost::mutex depthimage_to_laserscan::DepthImageToLaserScanROS::connect_mutex_ [private]

Prevents the connectCb and disconnectCb from being called until everything is initialized.

Definition at line 104 of file DepthImageToLaserScanROS.h.

depthimage_to_laserscan::DepthImageToLaserScan depthimage_to_laserscan::DepthImageToLaserScanROS::dtl_ [private]

Instance of the DepthImageToLaserScan conversion class.

Definition at line 102 of file DepthImageToLaserScanROS.h.

image_transport::ImageTransport depthimage_to_laserscan::DepthImageToLaserScanROS::it_ [private]

Subscribes to synchronized Image CameraInfo pairs.

Definition at line 97 of file DepthImageToLaserScanROS.h.

ros::NodeHandle depthimage_to_laserscan::DepthImageToLaserScanROS::pnh_ [private]

Private nodehandle used to generate the transport hints in the connectCb.

Definition at line 96 of file DepthImageToLaserScanROS.h.

ros::Publisher depthimage_to_laserscan::DepthImageToLaserScanROS::pub_ [private]

Publisher for output LaserScan messages.

Definition at line 99 of file DepthImageToLaserScanROS.h.

dynamic_reconfigure::Server<depthimage_to_laserscan::DepthConfig> depthimage_to_laserscan::DepthImageToLaserScanROS::srv_ [private]

Dynamic reconfigure server.

Definition at line 100 of file DepthImageToLaserScanROS.h.

image_transport::CameraSubscriber depthimage_to_laserscan::DepthImageToLaserScanROS::sub_ [private]

Subscriber for image_transport.

Definition at line 98 of file DepthImageToLaserScanROS.h.

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