node_handle.h

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//
// Copyright (c) 2021, Southwest Research Institute® (SwRI®)
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#ifndef SWRI_ROSCPP_NODE_HANDLE_H_
#define SWRI_ROSCPP_NODE_HANDLE_H_
 
#include <ros/node_handle.h>
 
#include <swri_roscpp/service_server.h>
#include <swri_roscpp/subscriber.h>
#include <swri_roscpp/topic_service_client.h>
#include <swri_roscpp/topic_service_server.h>
 
#include <swri_roscpp/optional_subscriber.h>
 
#include <marti_introspection_msgs/NodeInfo.h>
 
// Macro which adds line number info
#define SWRI_NODE_HANDLE(nh, pnh, description) swri::NodeHandle(nh, pnh, description, __FILE__)
 
// This is a smart nodehandle that handles storing documentation as well as tracking node names in nodelet managers.
 
namespace swri
{
class DynamicParameters;
class NodeHandle
{
  friend class DynamicParameters;
  struct NodeHandleInternal
  {
    std::string node_name_;
    ros::NodeHandle nh_;
    ros::NodeHandle pnh_;
 
    // This is additional details about the node
    bool enable_docs_;
    marti_introspection_msgs::NodeInfo info_msg_;
    ros::Publisher info_pub_;
  };
 
  boost::shared_ptr<NodeHandleInternal> nh_;
  std::string namespace_;
  std::string grouping_;
 
  // Resolves the the relative namespace name, namely handles globals
  std::string resolveName(const std::string& name) const
  {
    if (name.length() && name[0] == '/')
    {
      return name;
    }
    return namespace_ + name;
  }
 
  // Get's the nodehandle to place dynamic parameter topics in
  ros::NodeHandle getDynamicParameterNodeHandle() const
  {
    std::string ns = namespace_;
    if (ns.length() && ns[0] == '/')
    {
      ns = ns.substr(1);
    }
    return ros::NodeHandle(nh_->pnh_.resolveName(ns));
  }
 
  // check if we should add a parameter or not (have we already added it?)
  // also returns false if docs are disabled for simplicity
  bool shouldAddParameter(const std::string& name) const
  {
    if (!nh_->enable_docs_)
    {
      return false;
    }
 
    for (size_t i = 0; i < nh_->info_msg_.parameters.size(); i++)
    {
      if (nh_->info_msg_.parameters[i].name == name)
      {
        return false;
      }
    }
    return true;
  }
 
public:
 
  NodeHandle()
  {
    // we arent valid here
  }
 
  NodeHandle(ros::NodeHandle nh, ros::NodeHandle pnh,
             const std::string description,
             const char* source_file = "")
  {
    // create a new nh
    NodeHandleInternal* inh = new NodeHandleInternal;
    inh->nh_ = nh;
    inh->pnh_ = pnh;
    inh->node_name_ = pnh.getNamespace();
    nh_.reset(inh);
 
    // read a global parameter indicating if we should advertise debug info
    // this lets people turn it on/off for deployments as it can add a lot of topics
    nh.param("/swridocs", inh->enable_docs_, true);
 
    if (inh->enable_docs_)
    {
      // create the node specific publisher and initialize message
      inh->info_pub_ = pnh.advertise<marti_introspection_msgs::NodeInfo>("documentation", 1, true);
 
      inh->info_msg_.name = inh->node_name_;
      inh->info_msg_.description = description;
      inh->info_msg_.location = source_file;
      std::string nm = ros::NodeHandle("~").getNamespace();
      if (inh->info_msg_.name != nm)
      {
        inh->info_msg_.nodelet_manager = nm;// we are indeed running in a nodelet manager
      }
      inh->info_pub_.publish(inh->info_msg_);// do the initial publish
    }
  }
 
  operator void*() const { return nh_ ? (void*)1 : (void*)0; }
 
  // Get node handles internal setting for wether or not it is generating docs
  inline bool getEnableDocs() const 
  { 
    if (nh_)
    {
      return nh_->enable_docs_; 
    }
    else
    {
      return false;
    }
  }
 
  // Get a copy of the current documentation message from the node handle
  inline marti_introspection_msgs::NodeInfo getDocMsg() const 
  { 
    if (nh_)
    {
      return nh_->info_msg_;
    }
    else
    {
      return marti_introspection_msgs::NodeInfo();
    }
  }
 
  // Gets a handle relative the base swri::NodeHandle
  swri::NodeHandle getNodeHandle(const std::string& ns,
                                 const std::string& group = "")
  {
    swri::NodeHandle ret = *this;
    ret.namespace_ = ns;
    if (ns.length())
    {
      if (ns.length() > 1 && ns[0] == '~')
      {
        ret.namespace_ = nh_->node_name_ + ns.substr(1);
      }
      else if (ns == "~")
      {
        ret.namespace_ = nh_->node_name_;
      }
      ret.namespace_ += '/';
    }
    // Only change the group if a new one is indicated, otherwise use our parents
    if (group.length())
    {
      ret.grouping_ = group;
    }
    return ret;
  }
 
  template <class T>
  inline bool getParam(const std::string& name, T& value,
    const std::string description)
  {
    return param(name, value, value, description);
  }
 
  inline bool getParam(const std::string& name, XmlRpc::XmlRpcValue& value,
    const std::string description)
  {
    std::string real_name = resolveName(name);
    bool set = nh_->pnh_.getParam(real_name, value);
    ROS_INFO("Read XMLRPC parameter %s", name.c_str());
 
    if (shouldAddParameter(real_name))
    {
      marti_introspection_msgs::ParamInfo info;
      info.name = real_name;
      info.description = description;
      info.group = grouping_;
      info.resolved_name = nh_->pnh_.resolveName(real_name);
      info.type = marti_introspection_msgs::ParamInfo::TYPE_XMLRPC;
      info.dynamic = false;
      nh_->info_msg_.parameters.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
    return set;
  }
 
  inline bool getParam(const std::string& name, std::vector<std::string>& value,
    const std::string description)
  {
    std::string real_name = resolveName(name);
    bool set = nh_->pnh_.getParam(real_name, value);
    ROS_INFO("Read parameter %s", name.c_str());
 
    if (shouldAddParameter(real_name))
    {
      marti_introspection_msgs::ParamInfo info;
      info.name = real_name;
      info.description = description;
      info.group = grouping_;
      info.resolved_name = nh_->pnh_.resolveName(real_name);
      info.type = marti_introspection_msgs::ParamInfo::TYPE_STRING;
      info.dynamic = false;
      nh_->info_msg_.parameters.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
    return set;
  }
 
  template <class T>
  inline void setParam(const std::string& name, T& value)
  {
    nh_->pnh_.setParam(name, value);
  }
 
  // param always uses the private namespace
  inline
  bool param(const std::string &name,
      double &variable,
      const double default_value,
      const std::string description,
      const bool dynamic = false)
  {
    std::string real_name = resolveName(name);
    bool set = nh_->pnh_.param(real_name, variable, default_value);
    if (!dynamic)
    {
      ROS_INFO("Read parameter %s = %lf", real_name.c_str(), variable);
    }
 
    if (shouldAddParameter(real_name))
    {
      marti_introspection_msgs::ParamInfo info;
      info.name = real_name;
      info.description = description;
      info.group = grouping_;
      info.resolved_name = nh_->pnh_.resolveName(real_name);
      info.type = marti_introspection_msgs::ParamInfo::TYPE_DOUBLE;
      info.default_double = default_value;
      info.dynamic = dynamic;
      nh_->info_msg_.parameters.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
    return set;
  }
 
  // param always uses the private namespace
  // this function clamps the parameter to the indicated range
  inline
  bool ranged_param(const std::string &name,
      double &variable,
      const double default_value,
      const std::string description,
      const double min_value = 0.0,
      const double max_value = 0.0,
      const bool dynamic = false)
  {
    std::string real_name = resolveName(name);
    bool set = nh_->pnh_.param(real_name, variable, default_value);
    if (!dynamic)
    {
      ROS_INFO("Read parameter %s = %lf", real_name.c_str(), variable);
    }
 
    if (variable < min_value)
    {
      ROS_ERROR("Parameter '%s' is out of range. Clamping to %f.", real_name.c_str(), min_value);
      variable = min_value;
    }
    else if (variable > max_value)
    {
      ROS_ERROR("Parameter '%s' is out of range. Clamping to %f.", real_name.c_str(), max_value);
      variable = max_value;
    }
 
    if (shouldAddParameter(real_name))
    {
      marti_introspection_msgs::ParamInfo info;
      info.name = real_name;
      info.description = description;
      info.group = grouping_;
      info.resolved_name = nh_->pnh_.resolveName(real_name);
      info.type = marti_introspection_msgs::ParamInfo::TYPE_DOUBLE;
      info.default_double = default_value;
      info.dynamic = dynamic;
      info.max_value = max_value;
      info.min_value = min_value;
      nh_->info_msg_.parameters.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
    return set;
  }
 
  inline
  bool ranged_param(const std::string &name,
      int &variable,
      const int default_value,
      const std::string description,
      const int min_value = 0.0,
      const int max_value = 0.0,
      const bool dynamic = false)
  {
    std::string real_name = resolveName(name);
    bool set = nh_->pnh_.param(real_name, variable, default_value);
    if (!dynamic)
    {
      ROS_INFO("Read parameter %s = %i", real_name.c_str(), variable);
    }
 
    if (variable < min_value)
    {
      ROS_ERROR("Parameter '%s' is out of range. Clamping to %i.", real_name.c_str(), min_value);
      variable = min_value;
    }
    else if (variable > max_value)
    {
      ROS_ERROR("Parameter '%s' is out of range. Clamping to %i.", real_name.c_str(), max_value);
      variable = max_value;
    }
 
    if (shouldAddParameter(real_name))
    {
      marti_introspection_msgs::ParamInfo info;
      info.name = real_name;
      info.description = description;
      info.group = grouping_;
      info.resolved_name = nh_->pnh_.resolveName(real_name);
      info.type = marti_introspection_msgs::ParamInfo::TYPE_INT;
      info.default_int = default_value;
      info.dynamic = dynamic;
      info.max_value = max_value;
      info.min_value = min_value;
      nh_->info_msg_.parameters.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
    return set;
  }
 
  inline
  bool ranged_param(const std::string &name,
      float &variable,
      const float default_value,
      const std::string description,
      const float min_value = 0.0,
      const float max_value = 0.0,
      const bool dynamic = false)
  {
    std::string real_name = resolveName(name);
    bool set = nh_->pnh_.param(real_name, variable, default_value);
    if (!dynamic)
    {
      ROS_INFO("Read parameter %s = %lf", real_name.c_str(), variable);
    }
 
    if (variable < min_value)
    {
      ROS_ERROR("Parameter '%s' is out of range. Clamping to %f.", real_name.c_str(), min_value);
      variable = min_value;
    }
    else if (variable > max_value)
    {
      ROS_ERROR("Parameter '%s' is out of range. Clamping to %f.", real_name.c_str(), max_value);
      variable = max_value;
    }
 
    if (shouldAddParameter(real_name))
    {
      marti_introspection_msgs::ParamInfo info;
      info.name = real_name;
      info.description = description;
      info.group = grouping_;
      info.resolved_name = nh_->pnh_.resolveName(real_name);
      info.type = marti_introspection_msgs::ParamInfo::TYPE_FLOAT;
      info.default_float = default_value;
      info.dynamic = dynamic;
      info.max_value = max_value;
      info.min_value = min_value;
      nh_->info_msg_.parameters.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
    return set;
  }
 
  inline
  bool param(const std::string &name,
      float &variable,
      const float default_value,
      const std::string description,
      const bool dynamic = false)
  {
    std::string real_name = resolveName(name);
    bool set = nh_->pnh_.param(real_name, variable, default_value);
    if (!dynamic)
    {
      ROS_INFO("Read parameter %s = %lf", real_name.c_str(), variable);
    }
 
    if (shouldAddParameter(real_name))
    {
      marti_introspection_msgs::ParamInfo info;
      info.name = real_name;
      info.description = description;
      info.group = grouping_;
      info.resolved_name = nh_->pnh_.resolveName(real_name);
      info.type = marti_introspection_msgs::ParamInfo::TYPE_DOUBLE;
      info.default_double = default_value;
      info.dynamic = dynamic;
      nh_->info_msg_.parameters.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
    return set;
  }
 
  // param always uses the private namespace
  inline
  bool param(const std::string &name,
      int &variable,
      const int default_value,
      const std::string description,
      const bool dynamic = false)
  {
    std::string real_name = resolveName(name);
    bool set = nh_->pnh_.param(real_name, variable, default_value);
    if (!dynamic)
    {
      ROS_INFO("Read parameter %s = %i", real_name.c_str(), variable);
    }
 
    if (shouldAddParameter(real_name))
    {
      marti_introspection_msgs::ParamInfo info;
      info.name = real_name;
      info.description = description;
      info.group = grouping_;
      info.resolved_name = nh_->pnh_.resolveName(real_name);
      info.type = marti_introspection_msgs::ParamInfo::TYPE_INT;
      info.default_int = default_value;
      info.dynamic = dynamic;
      nh_->info_msg_.parameters.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
    return set;
  }
 
  // param always uses the private namespace
  inline
  bool param(const std::string &name,
      std::string &variable,
      const std::string default_value,
      const std::string description,
      const bool dynamic = false)
  {
    std::string real_name = resolveName(name);
    bool set = nh_->pnh_.param(real_name, variable, default_value);
    if (!dynamic)
    {
      ROS_INFO("Read parameter %s = %s", real_name.c_str(), variable.c_str());
    }
 
    if (shouldAddParameter(real_name))
    {
      marti_introspection_msgs::ParamInfo info;
      info.name = real_name;
      info.description = description;
      info.group = grouping_;
      info.resolved_name = nh_->pnh_.resolveName(real_name);
      info.type = marti_introspection_msgs::ParamInfo::TYPE_STRING;
      info.default_string = default_value;
      info.dynamic = dynamic;
      nh_->info_msg_.parameters.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
    return set;
  }
 
  // param always uses the private namespace
  inline
  bool param(const std::string &name,
      bool &variable,
      const bool default_value,
      const std::string description,
      const bool dynamic = false)
  {
    std::string real_name = resolveName(name);
    bool set = nh_->pnh_.param(real_name, variable, default_value);
    if (!dynamic)
    {
      ROS_INFO("Read parameter %s = %s", real_name.c_str(), variable ? "true" : "false");
    }
 
    if (shouldAddParameter(real_name))
    {
      marti_introspection_msgs::ParamInfo info;
      info.name = real_name;
      info.description = description;
      info.group = grouping_;
      info.resolved_name = nh_->pnh_.resolveName(real_name);
      info.type = marti_introspection_msgs::ParamInfo::TYPE_BOOL;
      info.default_bool = default_value;
      info.dynamic = dynamic;
      nh_->info_msg_.parameters.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
    return set;
  }
 
  // Using class method callback.
  template<class M , class T >
  swri::Subscriber subscribe_swri(const std::string &name,
             uint32_t queue_size,
             void(T::*fp)(const boost::shared_ptr< M const > &),
             T *obj,
             const std::string description,
             const ros::TransportHints &transport_hints=ros::TransportHints())
  {
    std::string real_name = resolveName(name);
 
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = false;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return swri::Subscriber(nh_->nh_, real_name, queue_size, fp, obj, transport_hints);
  }
 
  // Using boost function callback.
  template<class M>
  swri::Subscriber subscribe_swri(const std::string &name,
             uint32_t queue_size,
             boost::function<void(const boost::shared_ptr<M const> &)> fp,
             const std::string description,
             const ros::TransportHints &transport_hints=ros::TransportHints())
  {
    std::string real_name = resolveName(name);
 
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = false;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return swri::Subscriber(nh_->nh_, real_name, queue_size, fp, transport_hints);
  }
 
  // Using class method callback.
  template<class M , class T >
  ros::Subscriber subscribe(const std::string &name,
             uint32_t queue_size,
             void(T::*fp)(const boost::shared_ptr< M const > &),
             T *obj,
             const std::string description,
             const ros::TransportHints &transport_hints=ros::TransportHints())
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = false;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return nh_->nh_.subscribe(real_name, queue_size, fp, obj, transport_hints);
  }
 
  // The const class method overload
  template<class M , class T >
  ros::Subscriber subscribe(const std::string &name,
             uint32_t queue_size,
             void(T::*fp)(const boost::shared_ptr< M const > &) const,
             T *obj,
             const std::string description,
             const ros::TransportHints &transport_hints=ros::TransportHints())
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = false;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return nh_->nh_.subscribe(real_name, queue_size, fp, obj, transport_hints);
  }
 
  // Using boost function callback.
  template<class M>
  ros::Subscriber subscribe(const std::string &name,
             uint32_t queue_size,
             const boost::function<void(const boost::shared_ptr< M const > &)>& callback,
             const std::string description,
             const ros::TransportHints &transport_hints=ros::TransportHints())
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = false;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return nh_->nh_.subscribe<M>(real_name, queue_size, callback, ros::VoidConstPtr(), transport_hints);
  }
 
  // Using class method callback.
  template<class M , class T >
  ros::Subscriber subscribe(const std::string &name,
             uint32_t queue_size,
             void(T::*fp)(const ros::MessageEvent< M const > &),
             T *obj,
             const std::string description,
             const ros::TransportHints &transport_hints=ros::TransportHints())
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = false;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return nh_->nh_.subscribe(real_name, queue_size, fp, obj, transport_hints);
  }
 
  // Using const class method callback.
  template<class M , class T >
  ros::Subscriber subscribe(const std::string &name,
             uint32_t queue_size,
             void(T::*fp)(const ros::MessageEvent< M const > &) const,
             T *obj,
             const std::string description,
             const ros::TransportHints &transport_hints=ros::TransportHints())
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = false;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return nh_->nh_.subscribe(real_name, queue_size, fp, obj, transport_hints);
  }
 
  template<class M>
  swri::Subscriber subscribe_swri(
             const std::string &name,
             boost::shared_ptr< M const > *dest,
             const std::string description,
             const ros::TransportHints &transport_hints=ros::TransportHints())
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = false;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return swri::Subscriber(nh_->nh_, real_name, dest, transport_hints);
  }
 
  // Using public node handle and class method callback.
  // Only use this for strange things like message filters
  template<class M>
  void subscribe_later(const std::string &name,
             const std::string description)
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = false;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
  }
 
  // Using public node handle and class method callback.
  // Only use this for strange things like image transports.
  template<class M>
  void advertise_later(const std::string &name,
             const std::string description)
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = true;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
  }
 
  // Using public node handle and class method callback.
  template<class M , class T >
  swri::OptionalSubscriber subscribe_optional(const std::string &name,
             uint32_t queue_size,
             void(T::*fp)(const boost::shared_ptr< M const > &),
             T *obj,
             const std::string description,
             const ros::TransportHints &transport_hints=ros::TransportHints())
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = false;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return swri::OptionalSubscriber(nh_->nh_, real_name, queue_size, fp, obj);
  }
 
  // Uses the public node handle
  template<class M>
  swri::TopicServiceClient<M> topic_service_client(const std::string &name,
                const std::string description)
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::ServiceInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<typename M:: Request>().value();
      info.topic_service = true;
      info.server = false;
      info.description = description;
      nh_->info_msg_.services.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    swri::TopicServiceClient<M> tsc;
    tsc.initialize(nh_->nh_, real_name);
    return tsc;
  }
 
  // Uses the public node handle
  template<class MReq, class MRes, class T>
  swri::TopicServiceServer topic_service_server(const std::string &name,
                bool(T::*srv_func)(const MReq &, MRes &),
                T *obj,
                const std::string description)
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::ServiceInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<MReq>().value();
      info.topic_service = true;
      info.server = true;
      info.description = description;
      nh_->info_msg_.services.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    swri::TopicServiceServer tss;
    tss.initialize(nh_->nh_, real_name, srv_func, obj);
    return tss;
  }
  
  template<class T>
  ros::ServiceClient serviceClient(const std::string& name,
                const std::string& description)
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::ServiceInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::service_traits::DataType<T>().value();
      info.topic_service = false;
      info.server = false;
      info.description = description;
      nh_->info_msg_.services.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return nh_->nh_.serviceClient<T>(name);
  } 
 
  // Uses the public node handle
  template<class MReq, class MRes, class T>
  ros::ServiceServer advertiseService(const std::string &name,
                bool(T::*srv_func)(MReq &, MRes &),
                T *obj,
                const std::string description)
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::ServiceInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::service_traits::DataType<MReq>().value();
      info.topic_service = false;
      info.server = true;
      info.description = description;
      nh_->info_msg_.services.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return nh_->nh_.advertiseService(real_name, srv_func, obj);
  }
 
  template<class MReq, class MRes, class T>
  swri::ServiceServer advertise_service_swri(const std::string &name,
                bool(T::*srv_func)(MReq &, MRes &),
                T *obj,
                const std::string description)
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::ServiceInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::service_traits::DataType<MReq>().value();
      info.topic_service = false;
      info.server = true;
      info.description = description;
      nh_->info_msg_.services.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return swri::ServiceServer(nh_->pnh_, real_name, srv_func, obj);
  }
 
  template<class MReq, class MRes, class T>
  swri::ServiceServer advertise_service_swri(const std::string &name,
                bool(T::*srv_func)(ros::ServiceEvent< MReq, MRes > &),
                T *obj,
                const std::string description)
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::ServiceInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::service_traits::DataType<MReq>().value();
      info.topic_service = false;
      info.server = true;
      info.description = description;
      nh_->info_msg_.services.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return swri::ServiceServer(nh_->pnh_, real_name, srv_func, obj);
  }
 
  template<class MReq, class MRes, class T>
  swri::ServiceServer advertise_service_swri(const std::string &name,
                bool(T::*srv_func)(const std::string &, const MReq &, MRes &),
                T *obj,
                const std::string description)
  {
    std::string real_name = resolveName(name);
    if (nh_->enable_docs_)
    {
      const std::string resolved_name = nh_->nh_.resolveName(real_name);
      marti_introspection_msgs::ServiceInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::service_traits::DataType<MReq>().value();
      info.topic_service = false;
      info.server = true;
      info.description = description;
      nh_->info_msg_.services.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return swri::ServiceServer(nh_->pnh_, real_name, srv_func, obj);
  }
 
  // Advertising uses the public nh
  template<typename M>
  ros::Publisher advertise(
    const std::string name,
    uint32_t queue_size,
    bool latched,
    const std::string description)
  {
    std::string real_name = resolveName(name);
    const std::string resolved_name = nh_->nh_.resolveName(real_name);
    ROS_INFO("Publishing [%s] to '%s' from node %s.",
           real_name.c_str(),
           resolved_name.c_str(),
           nh_->node_name_.c_str());
 
    if (nh_->enable_docs_)
    {
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = true;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return nh_->nh_.advertise<M>(real_name, queue_size, latched);
  }
 
  // Advertising uses the public nh
  template<typename M>
  ros::Publisher advertise(
    const std::string name,
    uint32_t queue_size,
    const char* description)
  {
    std::string real_name = resolveName(name);
    const std::string resolved_name = nh_->nh_.resolveName(real_name);
    ROS_INFO("Publishing [%s] to '%s' from node %s.",
           real_name.c_str(),
           resolved_name.c_str(),
           nh_->node_name_.c_str());
 
    if (nh_->enable_docs_)
    {
      marti_introspection_msgs::TopicInfo info;
      info.name = real_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = true;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
 
    return nh_->nh_.advertise<M>(real_name, queue_size, false);
  }
 
  // Advertising uses the public nh
  template<typename M>
  ros::Publisher advertise(
      const std::string &topic,
      uint32_t queue_size,
      const ros::SubscriberStatusCallback &connect_cb,
      const ros::SubscriberStatusCallback &disconnect_cb = ros::SubscriberStatusCallback(), 
      const ros::VoidConstPtr &tracked_object = ros::VoidConstPtr(),
      bool latch=false,
      const std::string &description = "")
  {
    std::string real_topic_name = resolveName(topic);
    const std::string resolved_name = nh_->nh_.resolveName(real_topic_name);
    ROS_INFO("Publishing [%s] to '%s' from node %s.",
        real_topic_name.c_str(),
        resolved_name.c_str(),
        nh_->node_name_.c_str());
    if (nh_->enable_docs_)
    {
      marti_introspection_msgs::TopicInfo info;
      info.name = real_topic_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ros::message_traits::DataType<M>().value();
      info.advertised = true;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
    ros::AdvertiseOptions ops;
    ops.init<M>(real_topic_name, queue_size, connect_cb, disconnect_cb);
    ops.tracked_object = tracked_object;
    ops.latch = latch;
    return nh_->nh_.advertise(ops);
  }
 
  // Advertising uses the public nh
  inline ros::Publisher advertise(ros::AdvertiseOptions &ops,
      const std::string &description = "")
  {
    std::string real_topic_name = resolveName(ops.topic);
    const std::string resolved_name = nh_->nh_.resolveName(real_topic_name);
    ROS_INFO("Publishing [%s] to '%s' from node %s.",
        real_topic_name.c_str(),
        resolved_name.c_str(),
        nh_->node_name_.c_str());
    if (nh_->enable_docs_)
    {
      marti_introspection_msgs::TopicInfo info;
      info.name = real_topic_name;
      info.resolved_name = resolved_name;
      info.group = grouping_;
      info.message_type = ops.datatype;
      info.advertised = true;
      info.description = description;
      nh_->info_msg_.topics.push_back(info);
      nh_->info_pub_.publish(nh_->info_msg_);
    }
    return nh_->nh_.advertise(ops); 
  }
 
  // Using class method callback.
  template<class T >
  ros::Timer createTimer(ros::Duration duration,
             void(T::*fp)(const ros::TimerEvent &),
             T *obj,
             const bool oneshot = false,
             const bool autostart = true)
  {
    return nh_->nh_.createTimer(duration, fp, obj, oneshot, autostart);
  }
 
  // Using class method callback.
  template<class T >
  ros::WallTimer createWallTimer(ros::WallDuration duration,
             void(T::*fp)(const ros::WallTimerEvent &),
             T *obj,
             const bool oneshot = false,
             const bool autostart = true)
  {
    return nh_->nh_.createWallTimer(duration, fp, obj, oneshot, autostart);
  }
};
 
inline void param(swri::NodeHandle& nh,
  const std::string name,
  std::string& value,
  const std::string def,
  const std::string description)
{
  nh.param(name, value, def, description);
}
 
inline void ranged_param(swri::NodeHandle& nh,
  const std::string name,
  double& value,
  const double def,
  const std::string description = "",
  const double min = -std::numeric_limits<double>::infinity(),
  const double max = std::numeric_limits<double>::infinity())
{
  nh.ranged_param(name, value, def, description, min, max);
}
 
template<typename T>
void param(swri::NodeHandle& nh,
  const std::string name,
  T& value,
  const T def)
{
  nh.param(name, value, def, "");
}
 
template<typename T>
void param(swri::NodeHandle& nh,
  const std::string name,
  T& value,
  const T def,
  const std::string description)
{
  nh.param(name, value, def, description);
}
 
// Requires the parameter be set
template<typename T>
bool getParam(swri::NodeHandle& nh,
  const std::string name,
  T& value,
  const std::string description)
{
  bool res = nh.getParam(name, value, description);
  if (!res)
  {
    ROS_ERROR("Required parameter %s does not exist", name.c_str());
  }
  return res;
}
 
template<typename T>
void setParam(swri::NodeHandle& nh,
  const std::string& name,
  T& value)
{
  nh.setParam(name, value);
}
 
// some simple utility functions
template<typename M>
ros::Publisher advertise(swri::NodeHandle& nh,
  const std::string name,
  uint32_t queue_size,
  bool latched,
  const std::string description)
{
  return nh.advertise<M>(name, queue_size, latched, description);
}
 
template<typename M>
ros::Publisher advertise(swri::NodeHandle& nh,
  const std::string name,
  uint32_t queue_size,
  const char* description)
{
  return nh.advertise<M>(name, queue_size, false, description);
}
 
// Using class method callback.
template<class M , class T >
swri::Subscriber subscribe(swri::NodeHandle& nh,
           const std::string &name,
           uint32_t queue_size,
           void(T::*fp)(const boost::shared_ptr< M const > &),
           T *obj,
           const std::string description,
           const ros::TransportHints &transport_hints=ros::TransportHints())
{
  return nh.subscribe_swri(name, queue_size, fp, obj, description, transport_hints);
}
 
template<class M>
swri::Subscriber subscribe(swri::NodeHandle& nh,
           const std::string &name,
           boost::shared_ptr< M const > *dest,
           const std::string description,
           const ros::TransportHints &transport_hints=ros::TransportHints())
{
  return nh.subscribe_swri(name, dest, description, transport_hints);
}
 
template<class MReq, class MRes, class T>
swri::ServiceServer advertiseService(swri::NodeHandle& nh,
           const std::string &service,
           bool(T::*srv_func)(MReq &, MRes &),
           T *obj,
           const std::string description)
{
  return nh.advertise_service_swri(service, srv_func, obj, description);
}
 
template<class MReq, class MRes, class T>
swri::ServiceServer advertiseService(swri::NodeHandle& nh,
           const std::string &service,
           bool(T::*srv_func)(ros::ServiceEvent< MReq, MRes > &),                
           T *obj,
           const std::string description)
{
  return nh.advertise_service_swri(service, srv_func, obj, description);
}
 
template<class MReq, class MRes, class T>
swri::ServiceServer advertiseService(swri::NodeHandle& nh,
           const std::string &service,
           bool(T::*srv_func)(const std::string &, const MReq &, MRes &),
           T *obj,
           const std::string description)
{
  return nh.advertise_service_swri(service, srv_func, obj, description);
}
 
inline void timeoutParam(swri::NodeHandle& nh,
  swri::Subscriber& sub,
  const std::string name,
  const double timeout,
  const std::string desc)
{
  double to = timeout;
  nh.param(name, to, to, desc);
  sub.setTimeout(to);
}
 
}  // namespace swri
#endif  // SWRI_ROSCPP_NODE_HANDLE_H_