IRI ROS Specific Algorithm Class. More...

#include <assemble_image_and_pointcloud_alg_node.h>

Inheritance diagram for AssembleImageAndPointcloudAlgNode:

Public Member Functions
	AssembleImageAndPointcloudAlgNode (void)
	Constructor.
	~AssembleImageAndPointcloudAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	assembleImageAndPointCloud (void)
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	image_callback (const sensor_msgs::Image::ConstPtr &msg)
void	pointcloud_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
bool	b_img_
bool	b_pcl_
sensor_msgs::PointCloud2::ConstPtr	cloud2_
sensor_msgs::Image::ConstPtr	image_
CMutex	image_mutex_
ros::Subscriber	image_subscriber_
ros::Publisher	output_publisher_
sensor_msgs::PointCloud2	PointCloud2_msg_
CMutex	pointcloud_mutex_
ros::Subscriber	pointcloud_subscriber_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 43 of file assemble_image_and_pointcloud_alg_node.h.

Constructor & Destructor Documentation

AssembleImageAndPointcloudAlgNode::AssembleImageAndPointcloudAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file assemble_image_and_pointcloud_alg_node.cpp.

AssembleImageAndPointcloudAlgNode::~AssembleImageAndPointcloudAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 25 of file assemble_image_and_pointcloud_alg_node.cpp.

Member Function Documentation

void AssembleImageAndPointcloudAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< AssembleImageAndPointcloudAlgorithm >.

Definition at line 144 of file assemble_image_and_pointcloud_alg_node.cpp.

void AssembleImageAndPointcloudAlgNode::assembleImageAndPointCloud ( void ) [protected]

Definition at line 30 of file assemble_image_and_pointcloud_alg_node.cpp.

void AssembleImageAndPointcloudAlgNode::image_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 112 of file assemble_image_and_pointcloud_alg_node.cpp.

void AssembleImageAndPointcloudAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< AssembleImageAndPointcloudAlgorithm >.

Definition at line 79 of file assemble_image_and_pointcloud_alg_node.cpp.

void AssembleImageAndPointcloudAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< AssembleImageAndPointcloudAlgorithm >.

Definition at line 137 of file assemble_image_and_pointcloud_alg_node.cpp.

void AssembleImageAndPointcloudAlgNode::pointcloud_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 93 of file assemble_image_and_pointcloud_alg_node.cpp.