executor.h

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#ifndef LOCOMOTOR_EXECUTOR_H
#define LOCOMOTOR_EXECUTOR_H

#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <ros/spinner.h>

namespace locomotor
{
class LocomotorCallback : public ros::CallbackInterface
{
public:
  using Function = std::function<void()>;

  explicit LocomotorCallback(Function functor) : functor_(functor) {}
  ~LocomotorCallback() {}

  CallResult call()
  {
    functor_();
    return ros::CallbackInterface::Success;
  }
private:
  Function functor_;
};

class Executor
{
public:
  explicit Executor(const ros::NodeHandle& base_nh, bool create_cb_queue = true);

  virtual ~Executor() {}

  virtual const ros::NodeHandle& getNodeHandle() const;

  void addCallback(LocomotorCallback::Function f);
protected:
  virtual ros::CallbackQueue& getQueue();

  std::shared_ptr<ros::CallbackQueue> queue_;
  std::shared_ptr<ros::AsyncSpinner> spinner_;
  ros::NodeHandle ex_nh_;
};
}  // namespace locomotor

#endif  // LOCOMOTOR_EXECUTOR_H