C++ (Cpp) genVideoModeTableMap Examples

Example #1

File: openni2_driver.cpp Project: ChefOtter/ahl_ros_pkg

OpenNI2Driver::OpenNI2Driver(ros::NodeHandle& n, ros::NodeHandle& pnh) :
    nh_(n),
    pnh_(pnh),
    device_manager_(OpenNI2DeviceManager::getSingelton()),
    config_init_(false),
    data_skip_ir_counter_(0),
    data_skip_color_counter_(0),
    data_skip_depth_counter_ (0),
    ir_subscribers_(false),
    color_subscribers_(false),
    depth_subscribers_(false),
    depth_raw_subscribers_(false)
{

  genVideoModeTableMap();

  readConfigFromParameterServer();

  initDevice();

  // Initialize dynamic reconfigure
  reconfigure_server_.reset(new ReconfigureServer(pnh_));
  reconfigure_server_->setCallback(boost::bind(&OpenNI2Driver::configCb, this, _1, _2));

  while (!config_init_)
  {
    ROS_DEBUG("Waiting for dynamic reconfigure configuration.");
    boost::this_thread::sleep(boost::posix_time::seconds(0.1));
  }
  ROS_DEBUG("Dynamic reconfigure configuration received.");

  advertiseROSTopics();

}

Example #2

File: astra_driver.cpp Project: pkr97/rws2016_pkumars

AstraDriver::AstraDriver(ros::NodeHandle& n, ros::NodeHandle& pnh) :
    nh_(n),
    pnh_(pnh),
    device_manager_(AstraDeviceManager::getSingelton()),
    config_init_(false),
    data_skip_ir_counter_(0),
    data_skip_color_counter_(0),
    data_skip_depth_counter_ (0),
    ir_subscribers_(false),
    color_subscribers_(false),
    depth_subscribers_(false),
    depth_raw_subscribers_(false)
{

  genVideoModeTableMap();

  readConfigFromParameterServer();

#if MULTI_ASTRA
	int bootOrder, devnums;
	pnh.getParam("bootorder", bootOrder);
	pnh.getParam("devnums", devnums);
	if( devnums>1 )
	{
		int shmid;
		char *shm = NULL;
		char *tmp;
		if(  bootOrder==1 )
		{
			if( (shmid = shmget((key_t)0401, 1, 0666|IPC_CREAT)) == -1 )   
			{ 
				ROS_ERROR("Create Share Memory Error:%s", strerror(errno));
			}
			shm = (char *)shmat(shmid, 0, 0);  
			*shm = 1;
			initDevice();
			ROS_WARN("*********** device_id %s already open device************************ ", device_id_.c_str());
			*shm = 2;
		}
		else 	
		{	
			if( (shmid = shmget((key_t)0401, 1, 0666|IPC_CREAT)) == -1 )   
			{ 
			  	ROS_ERROR("Create Share Memory Error:%s", strerror(errno));
			}
			shm = (char *)shmat(shmid, 0, 0);
			while( *shm!=bootOrder);
			 initDevice();
			 ROS_WARN("*********** device_id %s already open device************************ ", device_id_.c_str());
			*shm = (bootOrder+1);
		}
		if(  bootOrder==1 )
		{
			while( *shm!=(devnums+1)) ;
			if(shmdt(shm) == -1)  
			{  
				ROS_ERROR("shmdt failed\n");  
			} 
			if(shmctl(shmid, IPC_RMID, 0) == -1)  
			{  
				ROS_ERROR("shmctl(IPC_RMID) failed\n");  
			}
		 }
		 else
		 {
		 	if(shmdt(shm) == -1)  
			{  
				ROS_ERROR("shmdt failed\n");  
			} 
		 }
	 }
	 else
	 {
	 	initDevice();
	 }
#else
  initDevice();

#endif
  // Initialize dynamic reconfigure
  reconfigure_server_.reset(new ReconfigureServer(pnh_));
  reconfigure_server_->setCallback(boost::bind(&AstraDriver::configCb, this, _1, _2));

  while (!config_init_)
  {
    ROS_DEBUG("Waiting for dynamic reconfigure configuration.");
    boost::this_thread::sleep(boost::posix_time::milliseconds(100));
  }
  ROS_DEBUG("Dynamic reconfigure configuration received.");

  advertiseROSTopics();

}