interval_intersection_node.cpp
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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 
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interval_intersection
Author(s): Romain Thibaux
autogenerated on Thu Aug 15 2013 10:15:57