advertisement_checker.cpp
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35 #include <boost/foreach.hpp>
36 
37 namespace image_proc {
38 
40  const std::string& name)
41  : nh_(nh),
42  name_(name)
43 {
44 }
45 
47 {
48  ros::master::V_TopicInfo topic_info;
49  if (!ros::master::getTopics(topic_info)) return;
50 
51  ros::V_string::iterator topic_it = topics_.begin();
52  while (topic_it != topics_.end())
53  {
54  // Should use std::find_if
55  bool found = false;
56  ros::master::V_TopicInfo::iterator info_it = topic_info.begin();
57  while (!found && info_it != topic_info.end())
58  {
59  found = (*topic_it == info_it->name);
60  ++info_it;
61  }
62  if (found)
63  topic_it = topics_.erase(topic_it);
64  else
65  {
66  ROS_WARN_NAMED(name_, "The input topic '%s' is not yet advertised", topic_it->c_str());
67  ++topic_it;
68  }
69  }
70 
71  if (topics_.empty())
72  stop();
73 }
74 
75 void AdvertisementChecker::start(const ros::V_string& topics, double duration)
76 {
77  topics_.clear();
78  BOOST_FOREACH(const std::string& topic, topics)
79  topics_.push_back(nh_.resolveName(topic));
80 
81  ros::NodeHandle nh;
83  boost::bind(&AdvertisementChecker::timerCb, this));
84  timerCb();
85 }
86 
88 {
89  timer_.stop();
90 }
91 
92 } // namespace image_proc
#define ROS_WARN_NAMED(name,...)
void start(const ros::V_string &topics, double duration)
std::string resolveName(const std::string &name, bool remap=true) const
ROSCPP_DECL bool getTopics(V_TopicInfo &topics)
std::vector< TopicInfo > V_TopicInfo
AdvertisementChecker(const ros::NodeHandle &nh=ros::NodeHandle(), const std::string &name=std::string())
std::vector< std::string > V_string
WallTimer createWallTimer(WallDuration period, void(T::*callback)(const WallTimerEvent &), T *obj, bool oneshot=false, bool autostart=true) const


image_proc
Author(s): Patrick Mihelich, Kurt Konolige, Jeremy Leibs
autogenerated on Thu Nov 7 2019 03:44:58