nodelet.h

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#ifndef OPENCV_APPS_NODELET_H_
#define OPENCV_APPS_NODELET_H_

#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <boost/thread.hpp>
#include <image_transport/image_transport.h>
#if BOOST_VERSION < 106000  // since 1.60.0, boost uses placeholders namesapce for _1,_2...
#ifndef BOOST_PLAEHOLDERS
#define BOOST_PLAEHOLDERS
namespace boost
{
namespace placeholders
{
extern boost::arg<1> _1;
extern boost::arg<2> _2;
extern boost::arg<3> _3;
extern boost::arg<4> _4;
extern boost::arg<5> _5;
extern boost::arg<6> _6;
extern boost::arg<7> _7;
extern boost::arg<8> _8;
extern boost::arg<9> _9;
}  // namespace placeholders
}  // namespace boost
#endif  // BOOST_PLAEHOLDERS
#endif  // BOOST_VERSION < 106000

// https://stackoverflow.com/questions/10496824/how-to-define-nullptr-for-supporting-both-c03-and-c11
#if !defined(nullptr)
#define nullptr NULL
#endif

namespace opencv_apps
{
enum ConnectionStatus
{
  NOT_INITIALIZED,
  NOT_SUBSCRIBED,
  SUBSCRIBED
};

class Nodelet : public nodelet::Nodelet
{
public:
  Nodelet() : subscribed_(false)
  {
  }

protected:
  virtual void onInit();

  virtual void onInitPostProcess();

  virtual void connectionCallback(const ros::SingleSubscriberPublisher& pub);

  virtual void imageConnectionCallback(const image_transport::SingleSubscriberPublisher& pub);

  virtual void cameraConnectionCallback(const image_transport::SingleSubscriberPublisher& pub);

  virtual void cameraInfoConnectionCallback(const ros::SingleSubscriberPublisher& pub);

  virtual void cameraConnectionBaseCallback();

  virtual void warnNeverSubscribedCallback(const ros::WallTimerEvent& event);

  virtual void subscribe() = 0;

  virtual void unsubscribe() = 0;

  template <class T>
  ros::Publisher advertise(ros::NodeHandle& nh, std::string topic, int queue_size)
  {
    boost::mutex::scoped_lock lock(connection_mutex_);
    ros::SubscriberStatusCallback connect_cb = boost::bind(&Nodelet::connectionCallback, this, boost::placeholders::_1);
    ros::SubscriberStatusCallback disconnect_cb =
        boost::bind(&Nodelet::connectionCallback, this, boost::placeholders::_1);
    bool latch;
    nh.param("latch", latch, false);
    ros::Publisher ret = nh.advertise<T>(topic, queue_size, connect_cb, disconnect_cb, ros::VoidConstPtr(), latch);
    publishers_.push_back(ret);

    return ret;
  }

  image_transport::Publisher advertiseImage(ros::NodeHandle& nh, const std::string& topic, int queue_size)
  {
    boost::mutex::scoped_lock lock(connection_mutex_);
    image_transport::SubscriberStatusCallback connect_cb =
        boost::bind(&Nodelet::imageConnectionCallback, this, boost::placeholders::_1);
    image_transport::SubscriberStatusCallback disconnect_cb =
        boost::bind(&Nodelet::imageConnectionCallback, this, boost::placeholders::_1);
    bool latch;
    nh.param("latch", latch, false);
    image_transport::Publisher pub =
        image_transport::ImageTransport(nh).advertise(topic, 1, connect_cb, disconnect_cb, ros::VoidPtr(), latch);
    image_publishers_.push_back(pub);
    return pub;
  }

  image_transport::CameraPublisher advertiseCamera(ros::NodeHandle& nh, const std::string& topic, int queue_size)
  {
    boost::mutex::scoped_lock lock(connection_mutex_);
    image_transport::SubscriberStatusCallback connect_cb =
        boost::bind(&Nodelet::cameraConnectionCallback, this, boost::placeholders::_1);
    image_transport::SubscriberStatusCallback disconnect_cb =
        boost::bind(&Nodelet::cameraConnectionCallback, this, boost::placeholders::_1);
    ros::SubscriberStatusCallback info_connect_cb =
        boost::bind(&Nodelet::cameraInfoConnectionCallback, this, boost::placeholders::_1);
    ros::SubscriberStatusCallback info_disconnect_cb =
        boost::bind(&Nodelet::cameraInfoConnectionCallback, this, boost::placeholders::_1);
    bool latch;
    nh.param("latch", latch, false);
    image_transport::CameraPublisher pub = image_transport::ImageTransport(nh).advertiseCamera(
        topic, 1, connect_cb, disconnect_cb, info_connect_cb, info_disconnect_cb, ros::VoidPtr(), latch);
    camera_publishers_.push_back(pub);
    return pub;
  }

  boost::mutex connection_mutex_;

  std::vector<ros::Publisher> publishers_;

  std::vector<image_transport::Publisher> image_publishers_;

  std::vector<image_transport::CameraPublisher> camera_publishers_;

  boost::shared_ptr<ros::NodeHandle> nh_;

  boost::shared_ptr<ros::NodeHandle> pnh_;

  ros::WallTimer timer_;

  bool subscribed_;

  bool ever_subscribed_;

  bool always_subscribe_;

  ConnectionStatus connection_status_;

  bool verbose_connection_;

private:
};
}  // namespace opencv_apps

#endif