string_relay_nodelet.cpp

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// -*- mode: c++ -*-
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#include "jsk_topic_tools/string_relay.h"

namespace jsk_topic_tools
{
  void StringRelay::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_ = advertise<std_msgs::String>(*pnh_, "output", 1);
  }

  void StringRelay::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &StringRelay::callback, this);
  }

  void StringRelay::unsubscribe()
  {
    sub_.shutdown();
  }

  void StringRelay::callback(const std_msgs::String::ConstPtr& msg)
  {
    vital_checker_->poke();
    pub_.publish(msg);
  }
}

#include <pluginlib/class_list_macros.h>
typedef jsk_topic_tools::StringRelay StringRelay;
PLUGINLIB_EXPORT_CLASS(StringRelay, nodelet::Nodelet)