LaserProcROS.cpp
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2013, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* 
00031  * Author: Chad Rockey
00032  */
00033 
00034 #include <laser_proc/LaserProcROS.h>
00035 
00036 using namespace laser_proc;
00037   
00038 LaserProcROS::LaserProcROS(ros::NodeHandle& n, ros::NodeHandle& pnh):nh_(n){
00039   boost::mutex::scoped_lock lock(connect_mutex_);
00040   
00041   // Lazy subscription to multi echo topic
00042   pub_ = laser_proc::LaserTransport::advertiseLaser(n, 10, boost::bind(&LaserProcROS::connectCb, this, _1), boost::bind(&LaserProcROS::disconnectCb, this, _1), ros::VoidPtr(), false, false);
00043 }
00044 
00045 LaserProcROS::~LaserProcROS(){
00046   sub_.shutdown();
00047 }
00048 
00049 
00050 
00051 void LaserProcROS::scanCb(const sensor_msgs::MultiEchoLaserScanConstPtr& msg) const{
00052   pub_.publish(msg);
00053 }
00054 
00055 void LaserProcROS::connectCb(const ros::SingleSubscriberPublisher& pub){
00056   boost::mutex::scoped_lock lock(connect_mutex_);
00057   if (!sub_ && pub_.getNumSubscribers() > 0) {
00058     ROS_DEBUG("Connecting to multi echo topic.");
00059     sub_ = nh_.subscribe("echoes", 10, &LaserProcROS::scanCb, this);
00060   }
00061 }
00062 
00063 void LaserProcROS::disconnectCb(const ros::SingleSubscriberPublisher& pub){
00064   boost::mutex::scoped_lock lock(connect_mutex_);
00065   if (pub_.getNumSubscribers() == 0) {
00066     ROS_DEBUG("Unsubscribing from multi echo topic.");
00067     sub_.shutdown();
00068   }
00069 }


laser_proc
Author(s): Chad Rockey
autogenerated on Sat Jun 8 2019 20:44:50