1 #ifndef USB_CAM_CONTROLLERS_CAMERA_INFO_CONTROLLER 2 #define USB_CAM_CONTROLLERS_CAMERA_INFO_CONTROLLER 10 #include <sensor_msgs/CameraInfo.h> 14 #include <boost/make_shared.hpp> 15 #include <boost/shared_ptr.hpp> 28 frame_id_ = controller_nh.
param< std::string >(
"camera_frame_id",
"head_camera");
31 info_manager_ = boost::make_shared< camera_info_manager::CameraInfoManager >(
32 controller_nh, controller_nh.
param< std::string >(
"camera_name",
"head_camera"),
33 controller_nh.param< std::string >(
"camera_info_url",
""));
42 const sensor_msgs::CameraInfoPtr msg(
new sensor_msgs::CameraInfo());
ros::Time getStamp() const
void publish(const boost::shared_ptr< M > &message) const
ros::Publisher publisher_
virtual void startingImpl(const ros::Time &time)
virtual ~CameraInfoController()
virtual void stoppingImpl(const ros::Time &time)
virtual bool initImpl(usb_cam_hardware_interface::PacketInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
bool param(const std::string ¶m_name, T ¶m_val, const T &default_val) const
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
virtual void updateImpl(const ros::Time &time, const ros::Duration &period)
usb_cam_hardware_interface::PacketHandle packet_iface_
boost::shared_ptr< camera_info_manager::CameraInfoManager > info_manager_