00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, Ryohei Ueda and JSK Lab 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/o2r other materials provided 00016 * with the distribution. 00017 * * Neither the name of the JSK Lab nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef LIGHTWEIGHT_THROTTLE_NODELET_H_ 00036 #define LIGHTWEIGHT_THROTTLE_NODELET_H_ 00037 00038 #include <boost/shared_ptr.hpp> 00039 #include <nodelet/nodelet.h> 00040 00041 #include <dynamic_reconfigure/server.h> 00042 #include <jsk_topic_tools/LightweightThrottleConfig.h> 00043 #include <topic_tools/shape_shifter.h> 00044 00045 namespace jsk_topic_tools 00046 { 00047 class LightweightThrottle : public nodelet::Nodelet 00048 { 00049 public: 00050 typedef LightweightThrottleConfig Config; 00051 virtual void onInit(); 00052 virtual void inCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg); 00053 virtual void connectionCallback( 00054 const ros::SingleSubscriberPublisher& pub); 00055 virtual void configCallback(Config& config, uint32_t level); 00056 protected: 00057 typedef boost::shared_ptr<ros::Subscriber> SubscriberPtr; 00058 boost::mutex mutex_; 00059 boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_; 00060 SubscriberPtr sub_; 00061 ros::Publisher pub_; 00062 ros::TransportHints th_; 00063 bool advertised_; 00064 bool subscribing_; 00065 double update_rate_; 00066 ros::Time latest_stamp_; 00067 ros::NodeHandle pnh_; 00068 }; 00069 } 00070 00071 #endif 00072