LaserProcROS.cpp
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1 /*
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29 
30 /*
31  * Author: Chad Rockey
32  */
33 
35 
36 using namespace laser_proc;
37 
39  boost::mutex::scoped_lock lock(connect_mutex_);
40 
41  // Lazy subscription to multi echo topic
42  pub_ = laser_proc::LaserTransport::advertiseLaser(n, 10, boost::bind(&LaserProcROS::connectCb, this, _1), boost::bind(&LaserProcROS::disconnectCb, this, _1), ros::VoidPtr(), false, false);
43 }
44 
46  sub_.shutdown();
47 }
48 
49 
50 
51 void LaserProcROS::scanCb(const sensor_msgs::MultiEchoLaserScanConstPtr& msg) const{
52  pub_.publish(msg);
53 }
54 
56  boost::mutex::scoped_lock lock(connect_mutex_);
57  if (!sub_ && pub_.getNumSubscribers() > 0) {
58  ROS_DEBUG("Connecting to multi echo topic.");
59  sub_ = nh_.subscribe("echoes", 10, &LaserProcROS::scanCb, this);
60  }
61 }
62 
64  boost::mutex::scoped_lock lock(connect_mutex_);
65  if (pub_.getNumSubscribers() == 0) {
66  ROS_DEBUG("Unsubscribing from multi echo topic.");
67  sub_.shutdown();
68  }
69 }
static LaserPublisher advertiseLaser(ros::NodeHandle &nh, uint32_t queue_size, bool latch=false)
uint32_t getNumSubscribers() const
Returns the number of subscribers that are currently connected to this LaserPublisher.
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
laser_proc::LaserPublisher pub_
Publisher.
Definition: LaserProcROS.h:73
void disconnectCb(const ros::SingleSubscriberPublisher &pub)
void connectCb(const ros::SingleSubscriberPublisher &pub)
ros::NodeHandle nh_
Nodehandle used to subscribe in the connectCb.
Definition: LaserProcROS.h:72
LaserProcROS(ros::NodeHandle &n, ros::NodeHandle &pnh)
ros::Subscriber sub_
Multi echo subscriber.
Definition: LaserProcROS.h:74
void scanCb(const sensor_msgs::MultiEchoLaserScanConstPtr &msg) const
boost::mutex connect_mutex_
Prevents the connectCb and disconnectCb from being called until everything is initialized.
Definition: LaserProcROS.h:76
void publish(const sensor_msgs::MultiEchoLaserScan &msg) const
Publish a MultiEchoLaserScan on the topics associated with this LaserPublisher.
#define ROS_DEBUG(...)


laser_proc
Author(s): Chad Rockey
autogenerated on Thu Jun 6 2019 19:56:23