00001 /********************************************************************** 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #include <vector> 00037 00038 #include "ros/ros.h" 00039 #include "ros/console.h" 00040 #include "calibration_msgs/Interval.h" 00041 #include "interval_intersection/interval_intersection.hpp" 00042 00043 using namespace std; 00044 using namespace interval_intersection; 00045 00046 void myPublish(ros::Publisher* pub, calibration_msgs::Interval interval) 00047 { 00048 pub->publish(interval); 00049 } 00050 00051 // Main 00052 int main(int argc, char **argv) 00053 { 00054 ros::init(argc,argv,"interval_intersection"); 00055 00056 if (argc < 2) { 00057 ROS_INFO_STREAM_NAMED("interval_intersection","At least one interval topic must be given.\n"); 00058 return 0; 00059 } 00060 00061 vector<string> names; 00062 for (int i=1; i<argc; i++) { 00063 names.push_back(argv[i]); 00064 } 00065 00066 ros::NodeHandle nh; 00067 00068 // Publisher 00069 ros::Publisher publisher = nh.advertise<calibration_msgs::Interval>("interval",1); 00070 // Intersector 00071 IntervalIntersector intersector(boost::bind(&myPublish, &publisher, _1)); 00072 // Subscribe 00073 vector<ros::Subscriber> subscribers; 00074 for (size_t i=0; i < names.size(); i++) { 00075 ROS_DEBUG("Listening On Topic [%s]", names[i].c_str()); 00076 subscribers.push_back(nh.subscribe<calibration_msgs::Interval>(names[i], 200, intersector.getNewInputStream())); 00077 } 00078 00079 ROS_INFO_STREAM_NAMED("interval_intersection","Advertised interval"); 00080 00081 ros::spin(); 00082 00083 return 0; 00084 } 00085 00086