delay_pointcloud_nodelet.cpp

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// -*- mode: C++ -*-
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#include "jsk_pcl_ros/delay_pointcloud.h"
#include <pluginlib/class_list_macros.h>

namespace jsk_pcl_ros
{
  void DelayPointCloud::onInit()
  {
    ConnectionBasedNodelet::onInit();
    pnh_->param("sleep_time", sleep_time_, 1.0);
    pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
  }

  void DelayPointCloud::delay(const sensor_msgs::PointCloud2::ConstPtr& msg)
  {
    ros::Duration(sleep_time_).sleep();
    pub_.publish(msg);
  }

  void DelayPointCloud::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &DelayPointCloud::delay, this);
  }
  void DelayPointCloud::unsubscribe()
  {
    sub_.shutdown();
  }
}

PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::DelayPointCloud, nodelet::Nodelet);