rgbd::ServerROS Class Reference

Server which publishes ROS rgb image, depth image and pointcloud messages. More...

#include <server_ros.h>

Inheritance diagram for rgbd::ServerROS:

Public Member Functions
void	initialize (std::string ns="", const bool publish_rgb=false, const bool publish_depth=false, const bool publish_pc=false)
	initialize server More...
void	send (const Image &image)
	Publish a new image to the selected ROS topics. More...
	ServerROS (ros::NodeHandle nh=ros::NodeHandle())
	Constructor. More...
virtual	~ServerROS ()
	Destructor. More...

Protected Attributes
ros::NodeHandle	nh_
std::shared_ptr< ros::Publisher >	pub_depth_img_
std::shared_ptr< ros::Publisher >	pub_depth_info_
std::shared_ptr< ros::Publisher >	pub_depth_pc_
std::shared_ptr< ros::Publisher >	pub_rgb_img_
std::shared_ptr< ros::Publisher >	pub_rgb_info_

Detailed Description

Server which publishes ROS rgb image, depth image and pointcloud messages.

Definition at line 16 of file server_ros.h.

Constructor & Destructor Documentation

ServerROS()

rgbd::ServerROS::ServerROS

(

ros::NodeHandle

nh = ros::NodeHandle()

)

Constructor.

Definition at line 18 of file server_ros.cpp.

~ServerROS()

rgbd::ServerROS::~ServerROS ( )

virtual

Destructor.

Definition at line 24 of file server_ros.cpp.

Member Function Documentation

initialize()

void rgbd::ServerROS::initialize	(	std::string	ns = "",
		const bool	publish_rgb = false,
		const bool	publish_depth = false,
		const bool	publish_pc = false
	)

initialize server

Parameters

ns	relative or absolute namespace of publishers
publish_rgb	Publish rgb image and camera info
publish_depth	Publish depth image and camera info
publish_pc	Publish point cloud

Definition at line 31 of file server_ros.cpp.

send()

void rgbd::ServerROS::send

(

const Image &

image

)

Publish a new image to the selected ROS topics.

Parameters

image

Image to be published

Definition at line 75 of file server_ros.cpp.

Member Data Documentation

nh_

ros::NodeHandle rgbd::ServerROS::nh_

protected

Definition at line 47 of file server_ros.h.

pub_depth_img_

std::shared_ptr<ros::Publisher> rgbd::ServerROS::pub_depth_img_

protected

Definition at line 50 of file server_ros.h.

pub_depth_info_

std::shared_ptr<ros::Publisher> rgbd::ServerROS::pub_depth_info_

protected

Definition at line 51 of file server_ros.h.

pub_depth_pc_

std::shared_ptr<ros::Publisher> rgbd::ServerROS::pub_depth_pc_

protected

Definition at line 52 of file server_ros.h.

pub_rgb_img_

std::shared_ptr<ros::Publisher> rgbd::ServerROS::pub_rgb_img_

protected

Definition at line 48 of file server_ros.h.

pub_rgb_info_

std::shared_ptr<ros::Publisher> rgbd::ServerROS::pub_rgb_info_

protected

Definition at line 49 of file server_ros.h.

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

• server_ros.h
• server_ros.cpp