cliff_detector_node.h

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#pragma once

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <boost/thread/mutex.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <cv_bridge/cv_bridge.h>

#include <sensor_msgs/Image.h>
#include <std_msgs/Float64.h>
#include <sensor_msgs/image_encodings.h>
#include <depth_nav_msgs/Point32List.h>

#include <dynamic_reconfigure/server.h>
#include <cliff_detector/CliffDetectorConfig.h>

#include <cliff_detector/cliff_detector.h>

namespace cliff_detector {

class CliffDetectorNode {
  public:
    CliffDetectorNode(ros::NodeHandle& n, ros::NodeHandle& pnh);
    ~CliffDetectorNode();
    void setNodeRate(const unsigned int rate);
    unsigned int getNodeRate();

  private: // Private methods
    void depthCb( const sensor_msgs::ImageConstPtr& depth_msg,
                  const sensor_msgs::CameraInfoConstPtr& info_msg);
    void connectCb();
    void disconnectCb();
    void reconfigureCb(cliff_detector::CliffDetectorConfig& config,
                       uint32_t level);

  private: // Private fields
    // Node loop frequency in Hz
    unsigned int node_rate_hz_;
    ros::NodeHandle pnh_;
    image_transport::ImageTransport it_;
    image_transport::CameraSubscriber sub_;
    image_transport::Publisher pub_;
    ros::Publisher pub_points_;
    dynamic_reconfigure::Server<cliff_detector::CliffDetectorConfig> reconf_srv_;
    cliff_detector::CliffDetector detector_;
    boost::mutex connection_mutex_;
  };

} // namespace cliff_detector