interval_intersection_node.cpp

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#include <vector>

#include "ros/ros.h"
#include "ros/console.h"
#include "calibration_msgs/Interval.h"
#include "interval_intersection/interval_intersection.hpp"

using namespace std;
using namespace interval_intersection;

void myPublish(ros::Publisher* pub, calibration_msgs::Interval interval)
{
  pub->publish(interval);
}

// Main
int main(int argc, char **argv)
{
  ros::init(argc,argv,"interval_intersection");

  if (argc < 2) {
    ROS_INFO_STREAM_NAMED("interval_intersection","At least one interval topic must be given.\n");
    return 0;
  }

  vector<string> names;
  for (int i=1; i<argc; i++) {
    names.push_back(argv[i]);
  }

  ros::NodeHandle nh;

  // Publisher
  ros::Publisher publisher = nh.advertise<calibration_msgs::Interval>("interval",1);
  // Intersector
  IntervalIntersector intersector(boost::bind(&myPublish, &publisher, _1));
  // Subscribe
  vector<ros::Subscriber> subscribers;
  for (size_t i=0; i < names.size(); i++) {
    ROS_DEBUG("Listening On Topic [%s]", names[i].c_str());
    subscribers.push_back(nh.subscribe<calibration_msgs::Interval>(names[i], 200, intersector.getNewInputStream()));
  }

  ROS_INFO_STREAM_NAMED("interval_intersection","Advertised interval");

  ros::spin();

  return 0;
}