18 #ifndef PUBLISHER_SONAR_HPP
19 #define PUBLISHER_SONAR_HPP
25 #include <sensor_msgs/Range.h>
37 inline std::string
topic()
const
47 void publish(
const std::vector<sensor_msgs::Range>& sonar_msgs );
54 for(std::vector<ros::Publisher>::const_iterator it =
pubs_.begin(); it !=
pubs_.end(); ++it)
55 if (it->getNumSubscribers())
62 std::vector<ros::Publisher>
pubs_;