server_ros.h

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#ifndef RGBD_SERVER_ROS_H_
#define RGBD_SERVER_ROS_H_
 
#include "rgbd/types.h"
 
#include <ros/node_handle.h>
#include <ros/publisher.h>
 
#include <memory>
 
namespace rgbd {
 
class ServerROS {
 
public:
 
    ServerROS(ros::NodeHandle nh=ros::NodeHandle());
 
    virtual ~ServerROS();
 
    void initialize(std::string ns = "", const bool publish_rgb = false, const bool publish_depth = false, const bool publish_pc = false);
 
    void send(const Image& image);
 
protected:
 
    ros::NodeHandle nh_;
    std::shared_ptr<ros::Publisher> pub_rgb_img_;
    std::shared_ptr<ros::Publisher> pub_rgb_info_;
    std::shared_ptr<ros::Publisher> pub_depth_img_;
    std::shared_ptr<ros::Publisher> pub_depth_info_;
    std::shared_ptr<ros::Publisher> pub_depth_pc_;
 
};
 
}
 
#endif // RGBD_SERVER_ROS_H_