protobuf2ros_publisher.h

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/*
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Christian Emmerich
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef RC_VISARD_ROS_PROTOBUF2ROS_PUBLISHER_H
#define RC_VISARD_ROS_PROTOBUF2ROS_PUBLISHER_H

#include <ros/ros.h>
#include <google/protobuf/message.h>

namespace rc
{
class Protobuf2RosPublisher
{
public:
  Protobuf2RosPublisher(ros::NodeHandle& nh, const std::string& topic, const std::string& pbMsgType,
                        const std::string& frame_id_prefix);

  virtual bool used();

  virtual void publish(std::shared_ptr<::google::protobuf::Message> pbMsg);

protected:
  ros::Publisher pub;  // needs to be constructed properly by child classes
  const std::string _tfPrefix;

private:
  Protobuf2RosPublisher& operator=(const Protobuf2RosPublisher&);  // forbidden
};
}

#endif  // RC_VISARD_ROS_PROTOBUF2ROS_PUBLISHER_H