publisher.h

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#ifndef SWRI_ROSCPP_PUBLISHER_H_
#define SWRI_ROSCPP_PUBLISHER_H_
 
#include <ros/node_handle.h>
 
namespace swri
{
template<typename M>
ros::Publisher advertise(
  ros::NodeHandle &nh,
  const std::string name,
  uint32_t queue_size,
  bool latched=false)
{
  const std::string resolved_name = nh.resolveName(name);
  ROS_INFO("Publishing [%s] to '%s'.",
           name.c_str(),
           resolved_name.c_str());
  return nh.advertise<M>(name, queue_size, latched);
}    
}  // namespace swri
#endif  // SWRI_ROSCPP_PUBLISHER_H_