.. _program_listing_file_include_ros_utils.h:

Program Listing for File ros_utils.h
====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_ros_utils.h>` (``include/ros_utils.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2023 Intel Corporation. All Rights Reserved.
   //
   // 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.
   
   #pragma once
   
   
   #include <iostream>
   #include <vector>
   #include <rclcpp/rclcpp.hpp>
   #include <librealsense2/rs.hpp>
   #include <librealsense2/rsutil.h>
   
   
   namespace realsense2_camera
   {
       typedef std::pair<rs2_stream, int> stream_index_pair;
   
       const stream_index_pair COLOR{RS2_STREAM_COLOR, 0};
       const stream_index_pair DEPTH{RS2_STREAM_DEPTH, 0};
       const stream_index_pair INFRA0{RS2_STREAM_INFRARED, 0};
       const stream_index_pair INFRA1{RS2_STREAM_INFRARED, 1};
       const stream_index_pair INFRA2{RS2_STREAM_INFRARED, 2};
       const stream_index_pair GYRO{RS2_STREAM_GYRO, 0};
       const stream_index_pair ACCEL{RS2_STREAM_ACCEL, 0};
   
       bool isValidCharInName(char c);
   
       std::string rs2_to_ros(std::string rs2_name);
       std::string ros_stream_to_string(rs2_stream stream);
       std::string create_graph_resource_name(const std::string &original_name);
       const rmw_qos_profile_t qos_string_to_qos(std::string str);
       const std::string list_available_qos_strings();
       rs2_format string_to_rs2_format(std::string str);
   
   }