nodelet_mux.h

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#ifndef NODELET_NODELET_MUX_H_
#define NODELET_NODELET_MUX_H_
 
#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/pass_through.h>
 
namespace nodelet
{
  template <typename T, typename Filter>
  class NodeletMUX: public Nodelet
  {
    typedef typename boost::shared_ptr<T> TPtr;
    typedef typename boost::shared_ptr<const T> TConstPtr;
 
    public:
      NodeletMUX () : maximum_queue_size_ (3) {}
 
 
      virtual void
        onInit ()
      {
        private_nh_ = getMTPrivateNodeHandle ();
        pub_output_ = private_nh_.template advertise<T> ("output", 1);
 
        XmlRpc::XmlRpcValue input_topics;
        if (!private_nh_.getParam ("input_topics", input_topics))
        {
          ROS_ERROR ("[nodelet::NodeletMUX::init] Need a 'input_topics' parameter to be set before continuing!");
          return;
        }
 
        private_nh_.getParam ("max_queue_size", maximum_queue_size_);
 
        // Check the type
        switch (input_topics.getType ())
        {
          case XmlRpc::XmlRpcValue::TypeArray:
          {
            if (input_topics.size () == 1)
            {
              ROS_ERROR ("[nodelet::NodeletMUX::init] Only one topic given. Does it make sense to passthrough?");
              return;
            }
 
            if (input_topics.size () > 8)
            {
              ROS_ERROR ("[nodelet::NodeletMUX::init] More than 8 topics passed!");
              return;
             }
 
            ROS_INFO_STREAM ("[nodelet::NodeletMUX::init] Subscribing to " << input_topics.size () << " user given topics as inputs:");
            for (int d = 0; d < input_topics.size (); ++d)
              ROS_INFO_STREAM (" - " << (std::string)(input_topics[d]));
 
            // Subscribe to the filters
            filters_.resize (input_topics.size ());
            for (int d = 0; d < input_topics.size (); ++d)
            {
              filters_[d].reset (new Filter ());
              filters_[d]->subscribe (private_nh_, (std::string)(input_topics[d]), 1);
            }
 
            // Subscribe to 1 callback to fill in the passthrough
            filters_[0]->registerCallback (boost::bind (&NodeletMUX<T,Filter>::filter_cb, this, boost::placeholders::_1));
 
            ts_.reset (new message_filters::TimeSynchronizer<T,T,T,T,T,T,T,T> (maximum_queue_size_));
 
            switch (input_topics.size ())
            {
              case 2:
              {
                ts_->connectInput (*filters_[0], *filters_[1], nf_, nf_, nf_, nf_, nf_, nf_);
                break;
              }
              case 3:
              {
                ts_->connectInput (*filters_[0], *filters_[1], *filters_[2], nf_, nf_, nf_, nf_, nf_);
                break;
              }
              case 4:
              {
                ts_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], nf_, nf_, nf_, nf_);
                break;
              }
              case 5:
              {
                ts_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], *filters_[4], nf_, nf_, nf_);
                break;
              }
              case 6:
              {
                ts_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], *filters_[4], *filters_[5], nf_, nf_);
                break;
              }
              case 7:
              {
                ts_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], *filters_[4], *filters_[5], *filters_[6], nf_);
                break;
              }
              case 8:
              {
                ts_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], *filters_[4], *filters_[5], *filters_[6], *filters_[7]);
                break;
              }
              default:
              {
                ROS_ERROR ("[nodelet::NodeletMUX::init] Invalid 'input_topics' parameter given!");
                return;
              }
             }
            break;
          }
          default:
          {
            ROS_ERROR ("[nodelet::NodeletMUX::init] Invalid 'input_topics' parameter given!");
            return;
          }
        }
 
        ts_->registerCallback (boost::bind (&NodeletMUX<T,Filter>::input, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8));
      }
 
    private:
 
      void
      filter_cb (const TConstPtr &input)
      {
        nf_.add (input);
      }
 
      void
      input (const TConstPtr &in1, const TConstPtr &in2, const TConstPtr &in3, const TConstPtr &in4,
             const TConstPtr &in5, const TConstPtr &in6, const TConstPtr &in7, const TConstPtr &in8)
      {
        pub_output_.publish (in1); pub_output_.publish (in2); pub_output_.publish (in3); pub_output_.publish (in4);
        pub_output_.publish (in5); pub_output_.publish (in6); pub_output_.publish (in7); pub_output_.publish (in8);
      }
 
      ros::NodeHandle private_nh_;
      ros::Publisher pub_output_;
 
      message_filters::PassThrough<T> nf_;
 
      int maximum_queue_size_;
 
      std::vector<boost::shared_ptr<Filter> > filters_;
 
      boost::shared_ptr<message_filters::TimeSynchronizer<T,T,T,T,T,T,T,T> > ts_;
  };
 
}
#endif