mux_nodelet.h
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00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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00034 
00035 #ifndef MUX_NODELET_H_
00036 #define MUX_NODELET_H_
00037 
00038 #include <nodelet/nodelet.h>
00039 #include <topic_tools/shape_shifter.h>
00040 
00041 #include <topic_tools/MuxSelect.h>
00042 #include <topic_tools/MuxAdd.h>
00043 #include <topic_tools/MuxDelete.h>
00044 #include <topic_tools/MuxList.h>
00045 
00046 namespace jsk_topic_tools
00047 {
00048   class MUX : public nodelet::Nodelet
00049   {
00050   public:
00051     typedef ros::MessageEvent<topic_tools::ShapeShifter> ShapeShifterEvent;
00052     virtual void onInit();
00053     virtual bool selectTopicCallback(topic_tools::MuxSelect::Request  &req,
00054                                      topic_tools::MuxSelect::Response &res);
00055     virtual bool addTopicCallback(topic_tools::MuxAdd::Request& req,
00056                                   topic_tools::MuxAdd::Response& res);
00057     virtual bool deleteTopicCallback(topic_tools::MuxDelete::Request& req,
00058                                      topic_tools::MuxDelete::Response& res);
00059     virtual bool listTopicCallback(topic_tools::MuxList::Request& req,
00060                                    topic_tools::MuxList::Response& res);
00061     virtual void inputCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg);
00062   protected:
00063     virtual void connectCb(const ros::SingleSubscriberPublisher& pub);
00064     virtual void subscribeSelectedTopic();
00065     bool advertised_;
00066     bool subscribing_;
00067     std::vector<std::string> topics_;
00068     std::string selected_topic_;
00069     boost::shared_ptr<ros::Subscriber> sub_;
00070     ros::Publisher pub_selected_;
00071     ros::Publisher pub_;
00072     ros::NodeHandle pnh_;
00073     ros::TransportHints th_;
00074     ros::ServiceServer ss_select_, ss_add_, ss_list_, ss_del_;
00075   };
00076 }
00077 
00078 #endif


jsk_topic_tools
Author(s): Kei Okada , Yusuke Furuta
autogenerated on Sun Jan 25 2015 00:30:41