protobuf2ros_publisher.h

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/*
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Christian Emmerich
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */


#ifndef RC_VISARD_ROS_PROTOBUF2ROS_PUBLISHER_H
#define RC_VISARD_ROS_PROTOBUF2ROS_PUBLISHER_H


#include <ros/ros.h>
#include <google/protobuf/message.h>


namespace rc
{


class Protobuf2RosPublisher
{
  public:

    Protobuf2RosPublisher(ros::NodeHandle &nh, const std::string &topic,
                          const std::string &pbMsgType,
                          const std::string &frame_id_prefix);

    virtual bool used();

    virtual void publish(std::shared_ptr<::google::protobuf::Message> pbMsg);

  protected:
    ros::Publisher pub; // needs to be constructed properly by child classes
    const std::string _tfPrefix;

  private:
    Protobuf2RosPublisher &
    operator=(const Protobuf2RosPublisher &); // forbidden
};

}

#endif //RC_VISARD_ROS_PROTOBUF2ROS_PUBLISHER_H