status.h
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00001 
00034 #ifndef MULTISENSE_ROS_STATUS_H
00035 #define MULTISENSE_ROS_STATUS_H
00036 
00037 #include <boost/shared_ptr.hpp>
00038 #include <boost/thread.hpp>
00039 #include <ros/ros.h>
00040 
00041 #include <multisense_lib/MultiSenseChannel.hh>
00042 
00043 namespace multisense_ros {
00044 
00045 class Status {
00046 public:
00047 
00048     Status(crl::multisense::Channel* driver);
00049     ~Status();
00050 
00051 private:
00052 
00053     //
00054     // CRL sensor API
00055 
00056     crl::multisense::Channel* driver_;
00057 
00058     //
00059     // Driver nodes
00060 
00061     ros::NodeHandle device_nh_;
00062 
00063     //
00064     // Device Status publisher
00065 
00066     ros::Publisher status_pub_;
00067 
00068     //
00069     // A timer to query our device status at a fixed rate
00070 
00071     ros::Timer status_timer_;
00072 
00073     //
00074     // The callback used to query the device status in the timer routine
00075 
00076     void queryStatus(const ros::TimerEvent& event);
00077 
00078 
00079     //
00080     // Publish control
00081 
00082     int32_t subscribers_;
00083     void connect();
00084     void disconnect();
00085 
00086 };
00087 
00088 }
00089 
00090 #endif
00091 


multisense_ros
Author(s):
autogenerated on Mon Oct 9 2017 03:06:27