00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2013, Ryohei Ueda and JSK Lab 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/o2r 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 #ifndef BLOCK_NODELET_H_ 00037 #define BLOCK_NODELET_H_ 00038 00039 #include <nodelet/nodelet.h> 00040 #include <topic_tools/shape_shifter.h> 00041 00042 namespace jsk_topic_tools 00043 { 00044 00045 /*************************************** 00046 * 00047 * 00048 * [input] -- | | -- [input_original] -- |process| -- [output_original] -- | | -- [output] 00049 * 00050 * * a subscriber to subscribe input := sub_input_ 00051 * * a subscriber to subscribe output_original := sub_output_original_ 00052 * * a publisher to publish input_original := pub_input_original_ 00053 * * a publisher to publish output := pub_output_ 00054 */ 00055 00056 class Block : public nodelet::Nodelet 00057 { 00058 public: 00059 typedef ros::MessageEvent<topic_tools::ShapeShifter> ShapeShifterEvent; 00060 protected: 00061 virtual void onInit(); 00062 00063 00064 ros::NodeHandle pnh_; 00065 bool pub_input_original_advertised_, pub_output_advertised_; 00066 bool sub_input_subscribing_, sub_output_original_subscribing_; 00067 ros::Subscriber sub_input_, sub_output_original_; 00068 ros::Publisher pub_input_original_, pub_output_; 00069 double check_rate_; // in Hz 00070 virtual void inputCallback( 00071 const boost::shared_ptr<topic_tools::ShapeShifter const>& msg); 00072 virtual void outputOriginalCallback( 00073 const boost::shared_ptr<topic_tools::ShapeShifter const>& msg); 00074 virtual void timerCallback(const ros::TimerEvent& event); 00075 ros::Timer timer_; 00076 }; 00077 } 00078 00079 #endif