block_nodelet.h
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35 
36 #ifndef BLOCK_NODELET_H_
37 #define BLOCK_NODELET_H_
38 
39 #include <nodelet/nodelet.h>
41 
42 namespace jsk_topic_tools
43 {
44 
45  /***************************************
46  *
47  *
48  * [input] -- | | -- [input_original] -- |process| -- [output_original] -- | | -- [output]
49  *
50  * * a subscriber to subscribe input := sub_input_
51  * * a subscriber to subscribe output_original := sub_output_original_
52  * * a publisher to publish input_original := pub_input_original_
53  * * a publisher to publish output := pub_output_
54  */
55 
56  class Block : public nodelet::Nodelet
57  {
58  public:
60  protected:
61  virtual void onInit();
62 
63 
69  double check_rate_; // in Hz
70  virtual void inputCallback(
72  virtual void outputOriginalCallback(
74  virtual void timerCallback(const ros::TimerEvent& event);
76  };
77 }
78 
79 #endif
ros::Publisher pub_input_original_
Definition: block_nodelet.h:68
ros::Subscriber sub_input_
Definition: block_nodelet.h:67
virtual void outputOriginalCallback(const boost::shared_ptr< topic_tools::ShapeShifter const > &msg)
ros::Publisher pub_output_
Definition: block_nodelet.h:68
virtual void timerCallback(const ros::TimerEvent &event)
ros::MessageEvent< topic_tools::ShapeShifter > ShapeShifterEvent
Definition: block_nodelet.h:59
ros::NodeHandle pnh_
Definition: block_nodelet.h:64
ros::Subscriber sub_output_original_
Definition: block_nodelet.h:67
virtual void inputCallback(const boost::shared_ptr< topic_tools::ShapeShifter const > &msg)


jsk_topic_tools
Author(s): Kei Okada , Yusuke Furuta
autogenerated on Tue Feb 6 2018 03:45:19