mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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56 lines
2.0 KiB
C++
56 lines
2.0 KiB
C++
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// Copyright 2023 Intel Corporation. All Rights Reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#include <rclcpp/rclcpp.hpp>
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#include "sensor_msgs/msg/image.hpp"
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#include "sensor_msgs/msg/imu.hpp"
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#include "sensor_msgs/msg/point_cloud2.hpp"
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#include <diagnostic_updater/diagnostic_updater.hpp>
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#include <diagnostic_updater/publisher.hpp>
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#include "orbbec_camera_msgs/msg/imu_info.hpp"
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#include "orbbec_camera_msgs/msg/extrinsics.hpp"
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#include "orbbec_camera_msgs/msg/metadata.hpp"
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#include "orbbec_camera_msgs/msg/rgbd.hpp"
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#include <sensor_msgs/image_encodings.hpp>
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#include <sensor_msgs/msg/camera_info.hpp>
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#include <geometry_msgs/msg/pose_stamped.hpp>
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#include <tf2_msgs/msg/tf_message.hpp>
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namespace orbbec_camera {
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class FrameLatencyNode : public rclcpp::Node {
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public:
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explicit FrameLatencyNode(const rclcpp::NodeOptions& node_options =
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rclcpp::NodeOptions().use_intra_process_comms(true));
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FrameLatencyNode(const std::string& node_name, const std::string& ns,
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const rclcpp::NodeOptions& node_options =
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rclcpp::NodeOptions().use_intra_process_comms(true));
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template <typename MsgType>
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void createListener(const std::string& topic_name, rmw_qos_profile_t qos_profile);
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void createTFListener(const std::string& topic_name, rmw_qos_profile_t qos_profile);
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private:
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std::shared_ptr<void> sub_ = nullptr;
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rclcpp::Logger logger_;
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rclcpp::TimerBase::SharedPtr timer_;
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size_t frame_count_ = 0;
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};
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} // namespace orbbec_camera
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