rgbd::ServerRGBD Class Reference

Server which provides RGBD topic and RGBD service. More...

#include <server_rgbd.h>

Public Member Functions
void	initialize (const std::string &name, RGBStorageType rgb_type=RGB_STORAGE_LOSSLESS, DepthStorageType depth_type=DEPTH_STORAGE_LOSSLESS, const float service_freq=10)
	Initialize server. More...
void	send (const Image &image)
	Write a new image to all interfaces. More...
	ServerRGBD (ros::NodeHandle nh=ros::NodeHandle())
	Constructor. More...
virtual	~ServerRGBD ()
	Destructor. More...

Static Public Attributes
const static int	MESSAGE_VERSION = 4
	version of the RGBD message being used More...

Protected Member Functions
bool	serviceCallback (rgbd_msgs::GetRGBDRequest &req, rgbd_msgs::GetRGBDResponse &resp)
	serviceCallback More...
void	serviceThreadFunc (const float frequency)
	Function to be called in the thread proving the service. More...

Protected Attributes
ros::CallbackQueue	cb_queue_
DepthStorageType	depth_type_
rgbd::Image	image_
std::mutex	image_mutex_
ros::NodeHandle	nh_
ros::Publisher	pub_image_
RGBStorageType	rgb_type_
ros::ServiceServer	service_server_
std::thread	service_thread_

Detailed Description

Server which provides RGBD topic and RGBD service.

Definition at line 20 of file server_rgbd.h.

Constructor & Destructor Documentation

ServerRGBD()

rgbd::ServerRGBD::ServerRGBD

(

ros::NodeHandle

nh = ros::NodeHandle()

)

Constructor.

Definition at line 28 of file server_rgbd.cpp.

~ServerRGBD()

rgbd::ServerRGBD::~ServerRGBD ( )

virtual

Destructor.

Nodehandle is shutdown and all threads are joined

Definition at line 34 of file server_rgbd.cpp.

Member Function Documentation

initialize()

void rgbd::ServerRGBD::initialize	(	const std::string &	name,
		RGBStorageType	rgb_type = RGB_STORAGE_LOSSLESS,
		DepthStorageType	depth_type = DEPTH_STORAGE_LOSSLESS,
		const float	service_freq = 10
	)

Initialize server.

Parameters

name	Fully resolved server name
rgb_type	rgb storage type
depth_type	depth storage type
service_freq	frequency of the thread processing service requests

Definition at line 43 of file server_rgbd.cpp.

send()

void rgbd::ServerRGBD::send

(

const Image &

image

)

Write a new image to all interfaces.

Parameters

image

Image to be written

Definition at line 56 of file server_rgbd.cpp.

serviceCallback()

bool rgbd::ServerRGBD::serviceCallback ( rgbd_msgs::GetRGBDRequest &  req, rgbd_msgs::GetRGBDResponse &  resp  )

protected

serviceCallback

Parameters

req	Service Request
resp	Service Response

Returns

success

Definition at line 83 of file server_rgbd.cpp.

serviceThreadFunc()

void rgbd::ServerRGBD::serviceThreadFunc ( const float  frequency )

protected

Function to be called in the thread proving the service.

Parameters

frequency

frequency for checking service requests

Definition at line 118 of file server_rgbd.cpp.

Member Data Documentation

cb_queue_

ros::CallbackQueue rgbd::ServerRGBD::cb_queue_

protected

Definition at line 61 of file server_rgbd.h.

depth_type_

DepthStorageType rgbd::ServerRGBD::depth_type_

protected

Definition at line 64 of file server_rgbd.h.

image_

rgbd::Image rgbd::ServerRGBD::image_

protected

Definition at line 66 of file server_rgbd.h.

image_mutex_

std::mutex rgbd::ServerRGBD::image_mutex_

protected

Definition at line 67 of file server_rgbd.h.

MESSAGE_VERSION

const int rgbd::ServerRGBD::MESSAGE_VERSION = 4

static

version of the RGBD message being used

Definition at line 54 of file server_rgbd.h.

nh_

ros::NodeHandle rgbd::ServerRGBD::nh_

protected

Definition at line 58 of file server_rgbd.h.

pub_image_

ros::Publisher rgbd::ServerRGBD::pub_image_

protected

Definition at line 59 of file server_rgbd.h.

rgb_type_

RGBStorageType rgbd::ServerRGBD::rgb_type_

protected

Definition at line 63 of file server_rgbd.h.

service_server_

ros::ServiceServer rgbd::ServerRGBD::service_server_

protected

Definition at line 60 of file server_rgbd.h.

service_thread_

std::thread rgbd::ServerRGBD::service_thread_

protected

Definition at line 70 of file server_rgbd.h.

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

• server_rgbd.h
• server_rgbd.cpp