laserscan_kinect::LaserScanKinectNode Class Reference

#include <laserscan_kinect_node.h>

Public Member Functions
	LaserScanKinectNode (ros::NodeHandle &pnh)
	LaserScanKinectNode constructor. More...
	~LaserScanKinectNode ()

Private Member Functions
void	connectCb ()
	connectCb is callback which is called when new subscriber connected. More...
void	depthCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
	depthCb is callback which is called when new depth image appear More...
void	disconnectCb ()
	disconnectCb is called when a subscriber stop subscribing More...
void	reconfigureCb (laserscan_kinect::LaserscanKinectConfig &config, uint32_t level)
	reconfigureCb is dynamic reconfigure callback More...

Private Attributes
std::mutex	connect_mutex_
	Prevents the connectCb and disconnectCb from being called until everything is initialized. More...
laserscan_kinect::LaserScanKinect	converter_
	Object which convert depth image to laserscan and store all parameters. More...
image_transport::ImageTransport	it_
	Subscribes to synchronized Image CameraInfo pairs. More...
ros::NodeHandle	pnh_
	Private node handler used to generate the transport hints in the connectCb. More...
ros::Publisher	pub_
	Publisher for output LaserScan messages. More...
image_transport::Publisher	pub_dbg_img_
	Publisher for image_transport. More...
dynamic_reconfigure::Server< laserscan_kinect::LaserscanKinectConfig >	srv_
	Dynamic reconfigure server. More...
image_transport::CameraSubscriber	sub_
	Subscriber for image_transport. More...

Detailed Description

Definition at line 16 of file laserscan_kinect_node.h.

Constructor & Destructor Documentation

laserscan_kinect::LaserScanKinectNode::LaserScanKinectNode

(

ros::NodeHandle &

pnh

)

LaserScanKinectNode constructor.

Parameters

pnh	Private node handler.

Definition at line 7 of file laserscan_kinect_node.cpp.

laserscan_kinect::LaserScanKinectNode::~LaserScanKinectNode

(

)

Definition at line 25 of file laserscan_kinect_node.cpp.

Member Function Documentation

void laserscan_kinect::LaserScanKinectNode::connectCb ( )

private

connectCb is callback which is called when new subscriber connected.

It allow to subscribe depth image and publish laserscan message only when is laserscan subscriber appear.

Definition at line 48 of file laserscan_kinect_node.cpp.

void laserscan_kinect::LaserScanKinectNode::depthCb ( const sensor_msgs::ImageConstPtr &  depth_msg, const sensor_msgs::CameraInfoConstPtr &  info_msg  )

private

depthCb is callback which is called when new depth image appear

Callback for depth image and camera info. It converts depth image to laserscan and publishes it at the end.

Parameters

depth_msg	Depth image provided by image_transport.
info_msg	CameraInfo provided by image_transport.

Definition at line 29 of file laserscan_kinect_node.cpp.

void laserscan_kinect::LaserScanKinectNode::disconnectCb ( )

private

disconnectCb is called when a subscriber stop subscribing

When no one subscribers subscribe laserscan topic, then it stop to subscribe depth image.

Definition at line 58 of file laserscan_kinect_node.cpp.

void laserscan_kinect::LaserScanKinectNode::reconfigureCb ( laserscan_kinect::LaserscanKinectConfig &  config, uint32_t  level  )

private

reconfigureCb is dynamic reconfigure callback

Callback is necessary to set ROS parameters with dynamic reconfigure server.

Parameters

config	Dynamic Reconfigure object.
level	Dynamic Reconfigure level.

Definition at line 67 of file laserscan_kinect_node.cpp.

Member Data Documentation

std::mutex laserscan_kinect::LaserScanKinectNode::connect_mutex_

private

Prevents the connectCb and disconnectCb from being called until everything is initialized.

Definition at line 76 of file laserscan_kinect_node.h.

laserscan_kinect::LaserScanKinect laserscan_kinect::LaserScanKinectNode::converter_

private

Object which convert depth image to laserscan and store all parameters.

Definition at line 74 of file laserscan_kinect_node.h.

image_transport::ImageTransport laserscan_kinect::LaserScanKinectNode::it_

private

Subscribes to synchronized Image CameraInfo pairs.

Definition at line 64 of file laserscan_kinect_node.h.

ros::NodeHandle laserscan_kinect::LaserScanKinectNode::pnh_

private

Private node handler used to generate the transport hints in the connectCb.

Definition at line 62 of file laserscan_kinect_node.h.

ros::Publisher laserscan_kinect::LaserScanKinectNode::pub_

private

Publisher for output LaserScan messages.

Definition at line 68 of file laserscan_kinect_node.h.

image_transport::Publisher laserscan_kinect::LaserScanKinectNode::pub_dbg_img_

private

Publisher for image_transport.

Definition at line 70 of file laserscan_kinect_node.h.

dynamic_reconfigure::Server<laserscan_kinect::LaserscanKinectConfig> laserscan_kinect::LaserScanKinectNode::srv_

private

Dynamic reconfigure server.

Definition at line 72 of file laserscan_kinect_node.h.

image_transport::CameraSubscriber laserscan_kinect::LaserScanKinectNode::sub_

private

Subscriber for image_transport.

Definition at line 66 of file laserscan_kinect_node.h.

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The documentation for this class was generated from the following files:

• laserscan_kinect_node.h
• laserscan_kinect_node.cpp