delay_pointcloud.h

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// -*- mode: C++ -*-
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#ifndef JSK_PCL_ROS_UTILS_DELAY_POINTCLOUD_H_
#define JSK_PCL_ROS_UTILS_DELAY_POINTCLOUD_H_
 
#include <pcl_ros/pcl_nodelet.h>
#include <sensor_msgs/PointCloud.h>
#include "jsk_topic_tools/connection_based_nodelet.h"
 
#include "jsk_pcl_ros_utils/DelayPointCloudConfig.h"
#include <dynamic_reconfigure/server.h>
 
#include <message_filters/subscriber.h>
#include <message_filters/time_sequencer.h>
 
namespace jsk_pcl_ros_utils
{
 
  class DelayPointCloud: public jsk_topic_tools::ConnectionBasedNodelet
  {
    
  public:
 
    typedef jsk_pcl_ros_utils::DelayPointCloudConfig Config;
 
  protected:
    virtual void onInit();
    virtual void delay(const sensor_msgs::PointCloud2::ConstPtr& msg);
    virtual void subscribe();
    virtual void unsubscribe();
 
    boost::mutex mutex_;
    double delay_time_;
    int queue_size_;
    ros::Publisher pub_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_;
    boost::shared_ptr<message_filters::TimeSequencer<sensor_msgs::PointCloud2> > time_sequencer_;
 
    // dynamic reconfigure
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    void configCallback (Config &config, uint32_t level);
 
  private:
 
  };
 
}
 
 
#endif