publisher.h

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#ifndef _ROS_PUBLISHER_H_
#define _ROS_PUBLISHER_H_
 
#include "rosserial_msgs/TopicInfo.h"
#include "ros/node_handle.h"
 
namespace ros
{
 
/* Generic Publisher */
class Publisher
{
public:
  Publisher(const char * topic_name, Msg * msg, int endpoint = rosserial_msgs::TopicInfo::ID_PUBLISHER) :
    topic_(topic_name),
    msg_(msg),
    endpoint_(endpoint) {};
 
  int publish(const Msg * msg)
  {
    return nh_->publish(id_, msg);
  };
  int getEndpointType()
  {
    return endpoint_;
  }
 
  const char * topic_;
  Msg *msg_;
  // id_ and no_ are set by NodeHandle when we advertise
  int id_;
  NodeHandleBase_* nh_;
 
private:
  int endpoint_;
};
 
}
 
#endif