cleanup ros-pkg

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1269 f169173b-cf89-36c8-b27e-44dbe73f0c83

src/nodelets/data_throttle.cpp

@@ -0,0 +1,111 @@
+#include "ros/ros.h"
+#include "pluginlib/class_list_macros.h"
+#include "nodelet/nodelet.h"
+
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+#include <message_filters/sync_policies/approximate_time.h>
+
+#include <image_transport/image_transport.h>
+#include <image_transport/subscriber_filter.h>
+
+#include <sensor_msgs/CameraInfo.h>
+
+namespace rtabmap
+{
+
+class DataThrottleNodelet : public nodelet::Nodelet
+{
+public:
+	//Constructor
+	DataThrottleNodelet():
+		max_update_rate_(0),
+		sync_(0)
+	{
+	}
+
+	virtual ~DataThrottleNodelet()
+	{
+		delete sync_;
+	}
+
+private:
+	ros::Time last_update_;
+	double max_update_rate_;
+	virtual void onInit()
+	{
+		ros::NodeHandle& nh = getNodeHandle();
+		ros::NodeHandle& private_nh = getPrivateNodeHandle();
+
+		ros::NodeHandle rgb_nh(nh, "rgb");
+		ros::NodeHandle depth_nh(nh, "depth");
+		ros::NodeHandle rgb_pnh(private_nh, "rgb");
+		ros::NodeHandle depth_pnh(private_nh, "depth");
+		image_transport::ImageTransport rgb_it(rgb_nh);
+		image_transport::ImageTransport depth_it(depth_nh);
+		image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
+		image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
+
+		int queueSize = 10;
+		private_nh.param("max_rate", max_update_rate_, max_update_rate_);
+		private_nh.param("queue_size", queueSize, queueSize);
+
+		sync_ = new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(queueSize), image_sub_, image_depth_sub_, info_sub_);
+		sync_->registerCallback(boost::bind(&DataThrottleNodelet::callback, this, _1, _2, _3));
+
+		image_sub_.subscribe(rgb_it, rgb_nh.resolveName("image_in"), 1, hintsRgb);
+		image_depth_sub_.subscribe(depth_it, depth_nh.resolveName("image_in"), 1, hintsDepth);
+		info_sub_.subscribe(rgb_nh, "camera_info_in", 1);
+
+		imagePub_ = rgb_it.advertise("image_out", 10);
+		imageDepthPub_ = depth_it.advertise("image_out", 10);
+		infoPub_ = rgb_nh.advertise<sensor_msgs::CameraInfo>("camera_info_out", 10);
+	};
+
+	void callback(const sensor_msgs::ImageConstPtr& image,
+			const sensor_msgs::ImageConstPtr& imageDepth,
+			const sensor_msgs::CameraInfoConstPtr& camInfo)
+	{
+		if (max_update_rate_ > 0.0)
+		{
+			NODELET_DEBUG("update set to %f", max_update_rate_);
+			if ( last_update_ + ros::Duration(1.0/max_update_rate_) > ros::Time::now())
+			{
+				NODELET_DEBUG("throttle last update at %f skipping", last_update_.toSec());
+				return;
+			}
+		}
+		else
+			NODELET_DEBUG("update_rate unset continuing");
+
+		last_update_ = ros::Time::now();
+
+		if(imagePub_.getNumSubscribers())
+		{
+			imagePub_.publish(image);
+		}
+		if(imageDepthPub_.getNumSubscribers())
+		{
+			imageDepthPub_.publish(imageDepth);
+		}
+		if(infoPub_.getNumSubscribers())
+		{
+			infoPub_.publish(camInfo);
+		}
+	}
+
+	image_transport::Publisher imagePub_;
+	image_transport::Publisher imageDepthPub_;
+	ros::Publisher infoPub_;
+
+	image_transport::SubscriberFilter image_sub_;
+	image_transport::SubscriberFilter image_depth_sub_;
+	message_filters::Subscriber<sensor_msgs::CameraInfo> info_sub_;
+	typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MySyncPolicy;
+	message_filters::Synchronizer<MySyncPolicy> * sync_;
+
+};
+
+
+PLUGINLIB_DECLARE_CLASS(rtabmap, data_throttle, rtabmap::DataThrottleNodelet, nodelet::Nodelet);
+}