string_nodelet_lazy.cpp

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/* Author: Kentaro Wada <www.kentaro.wada@gmail.com>
 */

#include <nodelet_topic_tools/nodelet_lazy.h>
#include <std_msgs/String.h>

namespace test_nodelet_topic_tools
{

class NodeletLazyString: public nodelet_topic_tools::NodeletLazy
{
public:
protected:
  virtual void onInit()
  {
    nodelet_topic_tools::NodeletLazy::onInit();
    pub_ = advertise<std_msgs::String>(*pnh_, "output", 1);
    onInitPostProcess();
  }

  virtual void subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &NodeletLazyString::callback, this);
  }

  virtual void unsubscribe()
  {
    sub_.shutdown();
  }

  virtual void callback(const std_msgs::String::ConstPtr& msg)
  {
    pub_.publish(msg);
  }

  ros::Publisher pub_;
  ros::Subscriber sub_;

private:
};

}  // namespace test_nodelet_topic_tools

#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(test_nodelet_topic_tools::NodeletLazyString, nodelet::Nodelet);