usbl_filter.cpp

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*  Author: Dula Nad
*  Created: 18.02.2013.
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#include <underwater_sensor_msgs/USBL.h>

#include <ros/ros.h>


void onMsg(labust::tritech::TCPDevice* usbl, const std_msgs::String::ConstPtr msg){};

void onNavMsg(ros::Publisher* usblNav, ros::Publisher* usblMsg, labust::tritech::TCONMsgPtr tmsg){}

int main(int argc, char* argv[])
{
        using namespace labust::tritech;

        ros::init(argc,argv,"usbl_filter");

        ros::Subscriber usblData = nh.subscribe<underwater_sensor_msgs::USBL>(
                        "modem_data",   1,boost::bind(&onMsg,&usbl,_1));
        ros::Publisher pub = nh.advertise<underwater_sensor_msgs::USBL>("usbl_nav",1);
        ros::Publisher pub2 = nh.advertise<std_msgs::String>("usbl_data",1);

        TCPDevice::HandlerMap map;
        map[MTMsg::mtAMNavDataV2] = boost::bind(&onNavMsg,&pub,&pub2, _1);
        usbl.registerHandlers(map);

        ros::spin();

        return 0;
}