depth_odometry_nodelet.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
#ifndef DEPTH_ODOMETRY_DEPTH_ODOMETRY_NODELET_H_
#define DEPTH_ODOMETRY_DEPTH_ODOMETRY_NODELET_H_
 
#include <depth_odometry/depth_odometry_wrapper.h>
#include <ff_msgs/SetBool.h>
#include <ff_util/ff_nodelet.h>
 
#include <image_transport/image_transport.h>
 
#include <sensor_msgs/PointCloud2.h>
#include <ros/node_handle.h>
#include <ros/publisher.h>
#include <ros/subscriber.h>
 
namespace depth_odometry {
class DepthOdometryNodelet : public ff_util::FreeFlyerNodelet {
 public:
  DepthOdometryNodelet();
 
 private:
  void Initialize(ros::NodeHandle* nh) final;
  void SubscribeAndAdvertise(ros::NodeHandle* nh);
  void PointCloudCallback(const sensor_msgs::PointCloud2ConstPtr& point_cloud_msg);
  void ImageCallback(const sensor_msgs::ImageConstPtr& image_msg);
  bool EnableService(ff_msgs::SetBool::Request& req, ff_msgs::SetBool::Response& res);
 
  DepthOdometryWrapper depth_odometry_wrapper_;
  image_transport::Subscriber image_sub_;
  ros::Subscriber point_cloud_sub_;
  ros::Publisher depth_odometry_pub_;
  ros::ServiceServer enable_srv_;
  bool enabled_;
};
}  // namespace depth_odometry
 
#endif  // DEPTH_ODOMETRY_DEPTH_ODOMETRY_NODELET_H_