pps.h
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00001 
00034 #ifndef MULTISENSE_ROS_PPS_H
00035 #define MULTISENSE_ROS_PPS_H
00036 
00037 #include <boost/shared_ptr.hpp>
00038 #include <boost/thread.hpp>
00039 #include <ros/ros.h>
00040 
00041 #include <multisense_lib/MultiSenseChannel.hh>
00042 
00043 namespace multisense_ros {
00044 
00045 class Pps {
00046 public:
00047 
00048     Pps(crl::multisense::Channel* driver);
00049     ~Pps();
00050 
00051     void ppsCallback(const crl::multisense::pps::Header& header);
00052 
00053 private:
00054 
00055     //
00056     // CRL sensor API
00057 
00058     crl::multisense::Channel* driver_;
00059 
00060     //
00061     // Driver nodes
00062 
00063     ros::NodeHandle device_nh_;
00064 
00065     //
00066     // PPS publisher
00067 
00068     ros::Publisher pps_pub_;
00069 
00070     ros::Publisher stamped_pps_pub_;
00071 
00072     //
00073     // Publish control
00074 
00075     int32_t subscribers_;
00076     void connect();
00077     void disconnect();
00078 };
00079 
00080 }
00081 
00082 #endif


multisense_ros
Author(s):
autogenerated on Fri Apr 5 2019 02:28:29