20 #ifndef INCLUDE_FKIE_MESSAGE_FILTERS_SUBSCRIBER_IMPL_H_
21 #define INCLUDE_FKIE_MESSAGE_FILTERS_SUBSCRIBER_IMPL_H_
28 template<
class M,
template<
typename >
class Translate>
33 template<
class M,
template<
typename >
class Translate>
36 subscribe(nh, topic, queue_size, transport_hints, callback_queue);
39 template<
class M,
template<
typename >
class Translate>
42 return sub_.getTopic();
45 template<
class M,
template<
typename >
class Translate>
52 opts_.callback_queue = callback_queue;
53 opts_.transport_hints = transport_hints;
54 nh_ = std::make_shared<ros::NodeHandle>(nh);
58 template<
class M,
template<
typename >
class Translate>
62 set_subscribe_options(nh, topic, queue_size, transport_hints, callback_queue);
66 template<
class M,
template<
typename >
class Translate>
69 return nh_ && !opts_.topic.empty();
72 template<
class M,
template<
typename >
class Translate>
77 sub_ = nh_->subscribe(opts_);
81 template<
class M,
template<
typename >
class Translate>
87 template<
class M,
template<
typename >
class Translate>
90 this->send(Translate<M>::eventToFilter(event));