laserscan_kinect::LaserScanKinectNode Class Reference

#include <laserscan_kinect_node.h>

List of all members.

Public Member Functions
	LaserScanKinectNode (ros::NodeHandle &n, ros::NodeHandle &pnh)
	LaserScanKinectNode constructor.
	~LaserScanKinectNode ()
Private Member Functions
void	connectCb (const ros::SingleSubscriberPublisher &pub)
	connectCb is callback which is called when new subscriber connected.
void	depthCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
	depthCb is callback which is called when new depth image appear
void	disconnectCb (const ros::SingleSubscriberPublisher &pub)
	disconnectCb is called when a subscriber stop subscribing
void	reconfigureCb (laserscan_kinect::LaserscanKinectConfig &config, uint32_t level)
	reconfigureCb is dynamic reconfigure callback
Private Attributes
boost::mutex	connect_mutex_
	Prevents the connectCb and disconnectCb from being called until everything is initialized.
laserscan_kinect::LaserScanKinect	converter_
	Object which convert depth image to laserscan and store all parameters.
image_transport::ImageTransport	it_
	Subscribes to synchronized Image CameraInfo pairs.
ros::NodeHandle	pnh_
	Private node handler used to generate the transport hints in the connectCb.
ros::Publisher	pub_
	Publisher for output LaserScan messages.
dynamic_reconfigure::Server < laserscan_kinect::LaserscanKinectConfig >	srv_
	Dynamic reconfigure server.
image_transport::CameraSubscriber	sub_
	Subscriber for image_transport.

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Detailed Description

Definition at line 52 of file laserscan_kinect_node.h.

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Constructor & Destructor Documentation

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

LaserScanKinectNode constructor.

Parameters:

n	Node handler.
pnh	Private node handler.

Definition at line 42 of file laserscan_kinect_node.cpp.

LaserScanKinectNode::~LaserScanKinectNode

(

)

Definition at line 57 of file laserscan_kinect_node.cpp.

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Member Function Documentation

void LaserScanKinectNode::connectCb

(

const ros::SingleSubscriberPublisher &

pub

)

[private]

connectCb is callback which is called when new subscriber connected.

It allow to subscribe depth image and publish laserscan message only when is laserscan subscriber appear.

Parameters:

pub	Publisher which subscribers are checked.

Definition at line 78 of file laserscan_kinect_node.cpp.

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

depthCb is callback which is called when new depth image appear

Callback for depth image and camera info. It converts depth image to laserscan and publishes it at the end.

Parameters:

depth_msg	Depth image provided by image_transport.
info_msg	CameraInfo provided by image_transport.

Definition at line 63 of file laserscan_kinect_node.cpp.

void LaserScanKinectNode::disconnectCb

(

const ros::SingleSubscriberPublisher &

pub

)

[private]

disconnectCb is called when a subscriber stop subscribing

When no one subscribers subscribe laserscan topic, then it stop to subscribe depth image.

Parameters:

pub	Publisher which subscribers are checked.

Definition at line 90 of file laserscan_kinect_node.cpp.

void LaserScanKinectNode::reconfigureCb	(	laserscan_kinect::LaserscanKinectConfig &	config,
		uint32_t	level
	)		[private]

reconfigureCb is dynamic reconfigure callback

Callback is necessary to set ROS parameters with dynamic reconfigure server.

Parameters:

config	Dynamic Reconfigure object.
level	Dynamic Reconfigure level.

Definition at line 101 of file laserscan_kinect_node.cpp.

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Member Data Documentation

boost::mutex laserscan_kinect::LaserScanKinectNode::connect_mutex_ [private]

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

Definition at line 116 of file laserscan_kinect_node.h.

laserscan_kinect::LaserScanKinect laserscan_kinect::LaserScanKinectNode::converter_ [private]

Object which convert depth image to laserscan and store all parameters.

Definition at line 114 of file laserscan_kinect_node.h.

image_transport::ImageTransport laserscan_kinect::LaserScanKinectNode::it_ [private]

Subscribes to synchronized Image CameraInfo pairs.

Definition at line 106 of file laserscan_kinect_node.h.

ros::NodeHandle laserscan_kinect::LaserScanKinectNode::pnh_ [private]

Private node handler used to generate the transport hints in the connectCb.

Definition at line 104 of file laserscan_kinect_node.h.

ros::Publisher laserscan_kinect::LaserScanKinectNode::pub_ [private]

Publisher for output LaserScan messages.

Definition at line 110 of file laserscan_kinect_node.h.

dynamic_reconfigure::Server<laserscan_kinect::LaserscanKinectConfig> laserscan_kinect::LaserScanKinectNode::srv_ [private]

Dynamic reconfigure server.

Definition at line 112 of file laserscan_kinect_node.h.

image_transport::CameraSubscriber laserscan_kinect::LaserScanKinectNode::sub_ [private]

Subscriber for image_transport.

Definition at line 108 of file laserscan_kinect_node.h.

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

• laserscan_kinect_node.h
• laserscan_kinect_node.cpp