ros_broker.h

Go to the documentation of this file.

#ifndef ROS_BROKER_H_
#define ROS_BROKER_H_

#include <iostream>
#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>

#include "micros_swarm/comm_interface.h"
#include "ros_broker/GSDFPacket.h"

namespace ros_broker{
    
    class ROSBroker : public micros_swarm::CommInterface {
        public:
            ROSBroker();
            void init(std::string name, const micros_swarm::PacketParser& parser);
            void broadcast(const std::vector<uint8_t>& msg_data);
            void receive();
        private:
            void callback(const GSDFPacket& ros_msg);
            std::string name_;
            micros_swarm::PacketParser parser_;
            ros::NodeHandle node_handle_;
            ros::Publisher packet_publisher_;
            ros::Subscriber packet_subscriber_;
    };
};
#endif