change topic and msg depth camera

include/robot_costmap_2d/obstacle_layer.h

@@ -48,9 +48,11 @@
 
 #include <robot_sensor_msgs/LaserScan.h>
 #include <robot_laser_geometry/laser_geometry.hpp>
+#include <robot_sensor_msgs/DepthCameraData.h>
 #include <robot_sensor_msgs/PointCloud.h>
 #include <robot_sensor_msgs/PointCloud2.h>
 #include <robot_sensor_msgs/point_cloud_conversion.h>
+#include <mutex>
 
 
 
@@ -67,7 +69,8 @@ struct CallBackInfo
 class ObstacleLayer : public CostmapLayer
 {
 public:
-  ObstacleLayer()
+  ObstacleLayer() :
+      have_depth_camera_data_(false)
   {
     costmap_ = NULL;  // this is the unsigned char* member of parent class Costmap2D.
   }
@@ -178,6 +181,10 @@ protected:
 
   int combination_method_;
   std::vector<CallBackInfo> callback_infos_;
+  std::string depth_camera_topic_;
+  mutable std::mutex depth_camera_mutex_;
+  robot_sensor_msgs::DepthCameraData latest_depth_camera_data_;
+  bool have_depth_camera_data_;
 
 private:
   bool getParams(const std::string& config_file_name, robot::NodeHandle &nh);