rgbd_topics.h

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#pragma once
#ifndef RGBD_TOPICS_H  // NOLINT(build/header_guard)
#define RGBD_TOPICS_H

#include <string>

#include <sensor_msgs/image_encodings.h>
#include <camera_info_manager/camera_info_manager.h>
#include <std_msgs/String.h>
#include <ros/ros.h>
#include <pcl_conversions/pcl_conversions.h>
#include <gtest/gtest.h>

static const int TOPIC_COUNT = 13;

std::string RGB_IMAGE_MONO = "image_mono";
std::string RGB_IMAGE_COLOR = "image_color";
std::string RGB_IMAGE_RECT_MONO = "image_rect_mono";
std::string RGB_IMAGE_RECT_COLOR = "image_rect_color";
std::string DEPTH_IMAGE_RECT_RAW = "image_rect_raw";
std::string DEPTH_IMAGE_RECT = "image_rect";
std::string DEPTH_IMAGE = "image";
std::string DEPTH_POINTS = "points";
std::string IR_IMAGE_RECT_IR = "image_rect_ir";
std::string DEPTH_REG_SW_REG_IMAGE_RECT_RAW = "sw_registered/image_rect_raw";
std::string DEPTH_REG_SW_REG_CAMERA_INFO = "sw_registered/camera_info";
std::string DEPTH_REG_POINTS = "points";
std::string DEPTH_REG_SW_REG_IMAGE_RECT = "sw_registered/image_rect";

std::string CAMERA = "camera";
std::string RGB = "rgb";
std::string DEPTH = "depth";
std::string IR = "ir";
std::string DEPTH_REGISTERED = "depth_registered";

std::string camera;
std::string rgb;
std::string depth;
std::string ir;
std::string depth_registered;

std::string rgb_image_mono;
std::string rgb_image_color;
std::string rgb_image_rect_mono;
std::string rgb_image_rect_color;
std::string depth_image_rect_raw;
std::string depth_image_rect;
std::string depth_image;
std::string depth_points;
std::string ir_image_rect_ir;
std::string depth_reg_sw_reg_image_rect_raw;
std::string depth_reg_sw_reg_camera_info;
std::string depth_reg_points;
std::string depth_reg_sw_reg_image_rect;

bool topic_0_recv = false;
bool topic_1_recv = false;
bool topic_2_recv = false;
bool topic_3_recv = false;
bool topic_4_recv = false;
bool topic_5_recv = false;
bool topic_6_recv = false;
bool topic_7_recv = false;
bool topic_8_recv = false;
bool topic_9_recv = false;
bool topic_10_recv = false;
bool topic_11_recv = false;
bool topic_12_recv = false;

ros::Subscriber subscriber[TOPIC_COUNT];
#endif  // RGBD_TOPICS_H  // NOLINT(build/header_guard)