connection_based_nodelet.h
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00001 // -*- mode: c++ -*-
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00035 
00036 
00037 #ifndef CONNECTION_BASED_NODELET_H_
00038 #define CONNECTION_BASED_NODELET_H_
00039 
00040 #include <ros/ros.h>
00041 #include <nodelet/nodelet.h>
00042 #include <boost/thread.hpp>
00043 
00044 namespace jsk_topic_tools
00045 {
00046   //class ConnectionBasedNodelet: public pcl_ros::PCLNodelet
00047   class ConnectionBasedNodelet: public nodelet::Nodelet
00048   {
00049   public:
00050     ConnectionBasedNodelet(): subscribed_(false) { }
00051   protected:
00052     virtual void onInit();
00053     virtual void connectionCallback(const ros::SingleSubscriberPublisher& pub);
00054     virtual void subscribe() = 0;
00055     virtual void unsubscribe() = 0;
00056     
00057     template<class T> ros::Publisher
00058     advertise(ros::NodeHandle& nh,
00059               std::string topic, int queue_size)
00060     {
00061       ros::SubscriberStatusCallback connect_cb
00062         = boost::bind( &ConnectionBasedNodelet::connectionCallback, this, _1);
00063       ros::SubscriberStatusCallback disconnect_cb
00064         = boost::bind( &ConnectionBasedNodelet::connectionCallback, this, _1);
00065       ros::Publisher ret = nh.advertise<T>(topic, queue_size,
00066                                            connect_cb,
00067                                            disconnect_cb);
00068       publishers_.push_back(ret);
00069       return ret;
00070     }
00071     
00072     boost::mutex connection_mutex_;
00073     std::vector<ros::Publisher> publishers_;
00074     boost::shared_ptr<ros::NodeHandle> pnh_;
00075     bool subscribed_;
00076   private:
00077     
00078   };
00079 }
00080 
00081 #endif


jsk_topic_tools
Author(s): Kei Okada , Yusuke Furuta
autogenerated on Sun Jan 25 2015 12:38:34