00001 /*************************************************************************** 00002 * Copyright (C) 2014 by Markus Bader * 00003 * markus.bader@tuwien.ac.at * 00004 * * 00005 * This program is free software; you can redistribute it and/or modify * 00006 * it under the terms of the GNU General Public License as published by * 00007 * the Free Software Foundation; either version 2 of the License, or * 00008 * (at your option) any later version. * 00009 * * 00010 * This program is distributed in the hope that it will be useful, * 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00013 * GNU General Public License for more details. * 00014 * * 00015 * You should have received a copy of the GNU General Public License * 00016 * along with this program; if not, write to the * 00017 * Free Software Foundation, Inc., * 00018 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * 00019 ***************************************************************************/ 00020 00021 00022 #ifndef MX_TEMPLATE_NODE_H 00023 #define MX_TEMPLATE_NODE_H 00024 00025 #include "ros/ros.h" 00026 #include "std_msgs/String.h" 00027 #include "template/template.h" 00028 00030 class Scan2LineNode : public Scan2Line { 00031 public: 00032 struct ParametersNode : public Parameters{ 00033 ParametersNode(); 00034 void update(const unsigned long &loop_count); 00035 ros::NodeHandle node; 00036 double rate; 00037 int parameter_update_skip; 00038 bool publish; 00039 }; 00040 Scan2LineNode ( ros::NodeHandle &n ); 00041 ~Scan2LineNode(); 00042 void init (); 00043 void loop (); 00044 void callbackString (const std_msgs::String::ConstPtr& msg); 00045 private: //functions 00046 ParametersNode *param(); 00047 void update (); 00048 ros::Publisher pubString_; 00049 ros::Subscriber subString_; 00050 private: // variables 00051 ros::NodeHandle n_; 00052 unsigned long loop_count_; 00053 00054 }; 00055 00056 #endif // MX_TEMPLATE_NODE_H