text: /******************************************************************************
   Copyright (c) 2016, Intel Corporation
   All rights reserved.
  
   Redistribution and use in source and binary forms, with or without
   modification, are permitted provided that the following conditions are met:
  
   1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.
  
   2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.
  
   3. Neither the name of the copyright holder nor the names of its contributors
   may be used to endorse or promote products derived from this software without
   specific prior written permission.
  
   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
   FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
   DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
   SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
   OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *******************************************************************************/
  
  #include <sensor_msgs/image_encodings.h>
  #include <camera_info_manager/camera_info_manager.h>
  #include <std_msgs/String.h>
  #include <ros/ros.h>
  #include <pcl_conversions/pcl_conversions.h>
  #include <gtest/gtest.h>
  
  const static int TOPIC_COUNT = 13;
  
  std::string RGB_IMAGE_MONO = "image_mono";
  std::string RGB_IMAGE_COLOR = "image_color";
  std::string RGB_IMAGE_RECT_MONO = "image_rect_mono";
  std::string RGB_IMAGE_RECT_COLOR = "image_rect_color";
  std::string DEPTH_IMAGE_RECT_RAW = "image_rect_raw";
  std::string DEPTH_IMAGE_RECT = "image_rect";
  std::string DEPTH_IMAGE = "image";
  std::string DEPTH_POINTS = "points";
  std::string IR_IMAGE_RECT_IR = "image_rect_ir";
  std::string DEPTH_REG_SW_REG_IMAGE_RECT_RAW = "sw_registered/image_rect_raw";
  std::string DEPTH_REG_SW_REG_CAMERA_INFO = "sw_registered/camera_info";
  std::string DEPTH_REG_POINTS = "points";
  std::string DEPTH_REG_SW_REG_IMAGE_RECT = "sw_registered/image_rect";
  
  std::string CAMERA = "camera";
  std::string RGB = "rgb";
  std::string DEPTH = "depth";
  std::string IR = "ir";
  std::string DEPTH_REGISTERED = "depth_registered";
  
  std::string camera;
  std::string rgb;
  std::string depth;
  std::string ir;
  std::string depth_registered;
  
  std::string rgb_image_mono;
  std::string rgb_image_color;
  std::string rgb_image_rect_mono;
  std::string rgb_image_rect_color;
  std::string depth_image_rect_raw;
  std::string depth_image_rect;
  std::string depth_image;
  std::string depth_points;
  std::string ir_image_rect_ir;
  std::string depth_reg_sw_reg_image_rect_raw;
  std::string depth_reg_sw_reg_camera_info;
  std::string depth_reg_points;
  std::string depth_reg_sw_reg_image_rect;
  
  bool topic_0_recv = false;
  bool topic_1_recv = false;
  bool topic_2_recv = false;
  bool topic_3_recv = false;
  bool topic_4_recv = false;
  bool topic_5_recv = false;
  bool topic_6_recv = false;
  bool topic_7_recv = false;
  bool topic_8_recv = false;
  bool topic_9_recv = false;
  bool topic_10_recv = false;
  bool topic_11_recv = false;
  bool topic_12_recv = false;
  
  ros::Subscriber subscriber[TOPIC_COUNT];
  