lightweight_throttle_nodelet.h

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#ifndef LIGHTWEIGHT_THROTTLE_NODELET_H_
#define LIGHTWEIGHT_THROTTLE_NODELET_H_

#include <boost/shared_ptr.hpp>
#include <nodelet/nodelet.h>

#include <dynamic_reconfigure/server.h>
#include <jsk_topic_tools/LightweightThrottleConfig.h>
#include <topic_tools/shape_shifter.h>

namespace jsk_topic_tools
{
  class LightweightThrottle : public nodelet::Nodelet
  {
  public:
    typedef LightweightThrottleConfig Config;
    virtual void onInit();
    virtual void inCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg);
    virtual void connectionCallback(
      const ros::SingleSubscriberPublisher& pub);
    virtual void configCallback(Config& config, uint32_t level);
  protected:
    typedef boost::shared_ptr<ros::Subscriber> SubscriberPtr;
    boost::mutex mutex_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    SubscriberPtr sub_;
    ros::Publisher pub_;
    ros::TransportHints th_;
    bool advertised_;
    bool subscribing_;
    double update_rate_;
    ros::Time latest_stamp_;
    ros::NodeHandle pnh_;
  };
}

#endif