delay_pointcloud.h
Go to the documentation of this file.
00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *********************************************************************/
00035 
00036 #ifndef JSK_PCL_ROS_UTILS_DELAY_POINTCLOUD_H_
00037 #define JSK_PCL_ROS_UTILS_DELAY_POINTCLOUD_H_
00038 
00039 #include <pcl_ros/pcl_nodelet.h>
00040 #include <sensor_msgs/PointCloud.h>
00041 #include "jsk_topic_tools/connection_based_nodelet.h"
00042 
00043 #include "jsk_pcl_ros_utils/DelayPointCloudConfig.h"
00044 #include <dynamic_reconfigure/server.h>
00045 
00046 #include <message_filters/subscriber.h>
00047 #include <message_filters/time_sequencer.h>
00048 
00049 namespace jsk_pcl_ros_utils
00050 {
00051 
00052   class DelayPointCloud: public jsk_topic_tools::ConnectionBasedNodelet
00053   {
00054     
00055   public:
00056 
00057     typedef jsk_pcl_ros_utils::DelayPointCloudConfig Config;
00058 
00059   protected:
00060     virtual void onInit();
00061     virtual void delay(const sensor_msgs::PointCloud2::ConstPtr& msg);
00062     virtual void subscribe();
00063     virtual void unsubscribe();
00064 
00065     boost::mutex mutex_;
00066     double delay_time_;
00067     int queue_size_;
00068     ros::Publisher pub_;
00069     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_;
00070     boost::shared_ptr<message_filters::TimeSequencer<sensor_msgs::PointCloud2> > time_sequencer_;
00071 
00073     // dynamic reconfigure
00075     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00076     void configCallback (Config &config, uint32_t level);
00077 
00078   private:
00079 
00080   };
00081 
00082 }
00083 
00084 
00085 #endif
00086 


jsk_pcl_ros_utils
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:04