File content as of revision 7:13dd93a0efe8:

/* 
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  * Redistributions in binary form must reproduce the above
 *    copyright notice, this list of conditions and the following
 *    disclaimer in the documentation and/or other materials provided
 *    with the distribution.
 *  * Neither the name of Willow Garage, Inc. nor the names of its
 *    contributors may be used to endorse or promote prducts derived
 *    from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef _ROS_PUBLISHER_H_
#define _ROS_PUBLISHER_H_

#include "rosserial_msgs/TopicInfo.h"
#include "ros/node_handle.h"

namespace ros {

  /* Generic Publisher */
  class Publisher
  {
    public:
      Publisher( const char * topic_name, Msg * msg, int endpoint=rosserial_msgs::TopicInfo::ID_PUBLISHER) :
        topic_(topic_name), 
        msg_(msg),
        endpoint_(endpoint) {};

      int publish( const Msg * msg ) { return nh_->publish(id_, msg); };
      int getEndpointType(){ return endpoint_; }

      const char * topic_;
      Msg *msg_;
      // id_ and no_ are set by NodeHandle when we advertise 
      int id_;
      NodeHandleBase_* nh_;

    private:
      int endpoint_;
  };

}

#endif