relay_nodelet.h

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// -*- mode: c++ -*-
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#ifndef RELAY_NODELET_H_
#define RELAY_NODELET_H_

#include <nodelet/nodelet.h>
#include <topic_tools/shape_shifter.h>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>

namespace jsk_topic_tools
{
  class Relay : public nodelet::Nodelet
  {
  public:
    typedef ros::MessageEvent<topic_tools::ShapeShifter> ShapeShifterEvent;
    virtual void onInit();
    virtual void inputCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg);
  protected:
    virtual void connectCb();
    virtual void disconnectCb();
    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Subscriber sub_;
    bool advertised_;
    bool subscribing_;
    ros::NodeHandle pnh_;
    ros::TransportHints th_;
  };
}

#endif