topic.cpp

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#include "ros/topic.h"
#include "ros/callback_queue.h"

namespace ros
{
namespace topic
{

void waitForMessageImpl(SubscribeOptions& ops, 
                        const boost::function<bool(void)>& ready_pred, 
                        NodeHandle& nh, ros::Duration timeout)
{
  ros::CallbackQueue queue;
  ops.callback_queue = &queue;

  ros::Subscriber sub = nh.subscribe(ops);

  ros::Time end = ros::Time::now() + timeout;
  while (!ready_pred() && nh.ok())
  {
    queue.callAvailable(ros::WallDuration(0.1));

    if (!timeout.isZero() && ros::Time::now() >= end)
    {
      return;
    }
  }
}

} // namespace topic
} // namespace ros