00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2014, JSK Lab 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/o2r other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #include <pluginlib/class_list_macros.h> 00036 #include "jsk_topic_tools/hz_measure_nodelet.h" 00037 00038 #include "std_msgs/Float32.h" 00039 00040 namespace jsk_topic_tools 00041 { 00042 void HzMeasure::onInit() 00043 { 00044 pnh_ = getPrivateNodeHandle(); 00045 if (!pnh_.getParam("message_num", average_message_num_)) { 00046 average_message_num_ = 10; // defaults to 10 00047 } 00048 hz_pub_ = pnh_.advertise<std_msgs::Float32>("output", 1); 00049 sub_ = pnh_.subscribe<topic_tools::ShapeShifter>("input", 1, 00050 &HzMeasure::inputCallback, this); 00051 } 00052 00053 void HzMeasure::inputCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg) 00054 { 00055 ros::Time now = ros::Time::now(); 00056 buffer_.push(now); 00057 if (buffer_.size() > average_message_num_) { 00058 ros::Time oldest = buffer_.front(); 00059 double whole_time = (now - oldest).toSec(); 00060 double average_time = whole_time / (buffer_.size() - 1); 00061 std_msgs::Float32 output; 00062 output.data = 1.0 / average_time; 00063 hz_pub_.publish(output); 00064 buffer_.pop(); 00065 } 00066 else { 00067 NODELET_DEBUG("there is no enough messages yet"); 00068 } 00069 } 00070 00071 } 00072 00073 typedef jsk_topic_tools::HzMeasure HzMeasure; 00074 PLUGINLIB_EXPORT_CLASS(HzMeasure, nodelet::Nodelet)