C++ (Cpp) SubscriberFilter::unsubscribe示例

示例#1

文件： create_colored_point_cloud.cpp 项目： mfueller/MM_lecture

 void disconnectCb()
 {
   num_subs--;
   if(num_subs <= 0)
   {
     color_image_sub_.unsubscribe();
     pc_sub_.unsubscribe();
   }
 }

示例#2

文件： main.cpp 项目： Aharobot/spencer_people_tracking

// Connection callback that unsubscribes from the tracker if no one is subscribed.
void connectCallback(message_filters::Subscriber<CameraInfo> &sub_cam,
                     message_filters::Subscriber<GroundPlane> &sub_gp,
                     image_transport::SubscriberFilter &sub_col,
                     image_transport::SubscriberFilter &sub_dep,
                     image_transport::ImageTransport &it) {
    if(!pub_message.getNumSubscribers() && !pub_result_image.getNumSubscribers() && !pub_centres.getNumSubscribers() && !pub_detected_persons.getNumSubscribers()) {
        ROS_DEBUG("Upper Body Detector: No subscribers. Unsubscribing.");
        sub_cam.unsubscribe();
        sub_gp.unsubscribe();
        sub_col.unsubscribe();
        sub_dep.unsubscribe();
    } else {
        ROS_DEBUG("Upper Body Detector: New subscribers. Subscribing.");
        sub_cam.subscribe();
        sub_gp.subscribe();
        sub_col.subscribe(it,sub_col.getTopic().c_str(),1);
        sub_dep.subscribe(it,sub_dep.getTopic().c_str(),1);
    }
}

示例#3

文件： disparity_wide.cpp 项目： rmihalyi/bumblebee

// Handles (un)subscribing when clients (un)subscribe
void DisparityWideNodelet::connectCb()
{
  boost::lock_guard<boost::mutex> lock(connect_mutex_);
  if (pub_disparity_.getNumSubscribers() == 0)
  {
    sub_l_image_.unsubscribe();
    sub_l_info_ .unsubscribe();
    sub_r_image_.unsubscribe();
    sub_r_info_ .unsubscribe();
  }
  else if (!sub_l_image_.getSubscriber())
  {
    ros::NodeHandle &nh = getNodeHandle();
    // Queue size 1 should be OK; the one that matters is the synchronizer queue size.
    /// @todo Allow remapping left, right?
    image_transport::TransportHints hints("raw", ros::TransportHints(), getPrivateNodeHandle());
    sub_l_image_.subscribe(*it_, "left_wide/image_rect", 1, hints);
    sub_l_info_ .subscribe(nh,   "left_wide/camera_info", 1);
    sub_r_image_.subscribe(*it_, "right/image_rect", 1, hints);
    sub_r_info_ .subscribe(nh,   "right/camera_info", 1);
  }
}

示例#4

文件： fiducials.cpp 项目： renxi-cu/cob_object_perception

    /// Unsubscribe from camera topics if possible.
    void disconnectCallback()
    {
        if (sub_counter_ > 0)
        {
            ROS_INFO("[fiducials] Unsubscribing from camera topics");

            color_camera_image_sub_.unsubscribe();
            color_camera_info_sub_.unsubscribe();

            sub_counter_--;
            ROS_INFO("[fiducials] %i subscribers on camera topics [OK]", sub_counter_);
        }
    }

示例#5

文件： all_camera_viewer.cpp 项目： ipa-mars/care-o-bot

	/// Unsubscribe from camera topics if possible.
	void disconnectCallback()
	{
		sub_counter_--;
		if (sub_counter_ == 0)
		{
			ROS_DEBUG("[all_camera_viewer] Unsubscribing from camera topics");

			if (use_right_color_camera_)
			{
				right_color_camera_image_sub_.unsubscribe();
				right_camera_info_sub_.unsubscribe();
			}
			if (use_left_color_camera_)
			{
				left_color_camera_image_sub_.unsubscribe();
				left_camera_info_sub_.unsubscribe();
			}
			if (use_tof_camera_)
			{
				tof_camera_grey_image_sub_.unsubscribe();
			}
		}
	}

示例#6

文件： main.cpp 项目： 3011204077/spencer_people_tracking

// Connection callback that unsubscribes from the tracker if no one is subscribed.
void connectCallback(ros::Subscriber &sub_msg,
                     ros::NodeHandle &n,
                     string gp_topic,
                     string img_topic,
                     Subscriber<GroundPlane> &sub_gp,
                     Subscriber<CameraInfo> &sub_cam,
                     image_transport::SubscriberFilter &sub_col,
                     image_transport::ImageTransport &it){
    if(!pub_message.getNumSubscribers() && !pub_result_image.getNumSubscribers() && !pub_detected_persons.getNumSubscribers()) {
        ROS_DEBUG("HOG: No subscribers. Unsubscribing.");
        sub_msg.shutdown();
        sub_gp.unsubscribe();
        sub_cam.unsubscribe();
        sub_col.unsubscribe();
    } else {
        ROS_DEBUG("HOG: New subscribers. Subscribing.");
        if(strcmp(gp_topic.c_str(), "") == 0) {
            sub_msg = n.subscribe(img_topic.c_str(), 1, &imageCallback);
        }
        sub_cam.subscribe();
        sub_gp.subscribe();
        sub_col.subscribe(it,sub_col.getTopic().c_str(),1);
    }
}