IRI ROS Specific Algorithm Class. More...

#include <from_topic_to_pointcloud_alg_node.h>

Inheritance diagram for FromTopicToPointcloudAlgNode:

Public Member Functions
	FromTopicToPointcloudAlgNode (void)
	Constructor.
	~FromTopicToPointcloudAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
bool	getPointCloud2Callback (iri_perception_msgs::GetPointCloud2::Request &req, iri_perception_msgs::GetPointCloud2::Response &res)
void	topic_name_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
bool	ack_
CMutex	getPointCloud2_mutex_
ros::ServiceServer	getPointCloud2_server_
sensor_msgs::PointCloud2	pointcloud_
CMutex	topic_name_mutex_
ros::Subscriber	topic_name_subscriber_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 43 of file from_topic_to_pointcloud_alg_node.h.

Constructor & Destructor Documentation

FromTopicToPointcloudAlgNode::FromTopicToPointcloudAlgNode ( void )

Constructor.

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

Definition at line 3 of file from_topic_to_pointcloud_alg_node.cpp.

FromTopicToPointcloudAlgNode::~FromTopicToPointcloudAlgNode ( void )

Destructor.

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

Definition at line 23 of file from_topic_to_pointcloud_alg_node.cpp.

Member Function Documentation

void FromTopicToPointcloudAlgNode::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< FromTopicToPointcloudAlgorithm >.

Definition at line 96 of file from_topic_to_pointcloud_alg_node.cpp.

bool FromTopicToPointcloudAlgNode::getPointCloud2Callback	(	iri_perception_msgs::GetPointCloud2::Request &	req,
		iri_perception_msgs::GetPointCloud2::Response &	res
	)		`[private]`

Definition at line 57 of file from_topic_to_pointcloud_alg_node.cpp.

void FromTopicToPointcloudAlgNode::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< FromTopicToPointcloudAlgorithm >.

Definition at line 28 of file from_topic_to_pointcloud_alg_node.cpp.

void FromTopicToPointcloudAlgNode::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< FromTopicToPointcloudAlgorithm >.

Definition at line 89 of file from_topic_to_pointcloud_alg_node.cpp.

void FromTopicToPointcloudAlgNode::topic_name_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 40 of file from_topic_to_pointcloud_alg_node.cpp.