server_rgbd.h

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#ifndef RGBD_SERVER_RGBD_H_
#define RGBD_SERVER_RGBD_H_
 
#include "rgbd/image.h"
#include "rgbd_msgs/GetRGBD.h"
 
#include <ros/callback_queue.h>
#include <ros/node_handle.h>
#include <ros/publisher.h>
#include <ros/service_server.h>
 
#include <mutex>
#include <thread>
 
namespace rgbd {
 
class ServerRGBD {
 
public:
 
    ServerRGBD(ros::NodeHandle nh=ros::NodeHandle());
 
    virtual ~ServerRGBD();
 
    void initialize(const std::string& name, RGBStorageType rgb_type = RGB_STORAGE_LOSSLESS, DepthStorageType depth_type = DEPTH_STORAGE_LOSSLESS, const float service_freq = 10);
 
    void send(const Image& image);
 
    const static int MESSAGE_VERSION;
 
protected:
 
    ros::NodeHandle nh_;
    ros::Publisher pub_image_;
    ros::ServiceServer service_server_;
    ros::CallbackQueue cb_queue_;
 
    RGBStorageType rgb_type_;
    DepthStorageType depth_type_;
 
    rgbd::Image image_;
    std::mutex image_mutex_;
 
    // Service thread
    std::thread service_thread_;
 
    bool serviceCallback(rgbd_msgs::GetRGBDRequest& req, rgbd_msgs::GetRGBDResponse& resp);
 
    void serviceThreadFunc(const float frequency);
 
};
 
}
 
#endif // RGBD_SERVER_RGBD_H_