snapshot_nodelet.h

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// -*- mode: c++ -*-
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#ifndef JSK_TOPIC_TOOLS_SNAPSHOT_NODELET_H_
#define JSK_TOPIC_TOOLS_SNAPSHOT_NODELET_H_

#include <nodelet/nodelet.h>
#include <topic_tools/shape_shifter.h>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>
#include <std_srvs/Empty.h>

namespace jsk_topic_tools
{
  class Snapshot: public nodelet::Nodelet
  {
  public:
    typedef ros::MessageEvent<topic_tools::ShapeShifter> ShapeShifterEvent;
    typedef boost::shared_ptr<Snapshot> Ptr;
  protected:
    virtual void onInit();
    virtual void inputCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg);
    virtual bool requestCallback(
      std_srvs::Empty::Request& req,
      std_srvs::Empty::Response& res);
    
    ros::ServiceServer request_service_;
    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Publisher pub_timestamp_;
    ros::Subscriber sub_;
    ros::NodeHandle pnh_;
    bool subscribing_;
    bool advertised_;
    bool requested_;
    bool latch_;
  private:
    
  };
}

#endif