Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/ros/publisher.h@0:020db18a476d, 2019-10-30 (annotated)

Committer:
scarter1
Date:
Wed Oct 30 14:59:49 2019 +0000
Revision:
0:020db18a476d
melodic library;

Who changed what in which revision?

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scarter1 0:020db18a476d 1 /*
scarter1 0:020db18a476d 2 * Software License Agreement (BSD License)
scarter1 0:020db18a476d 3 *
scarter1 0:020db18a476d 4 * Copyright (c) 2011, Willow Garage, Inc.
scarter1 0:020db18a476d 5 * All rights reserved.
scarter1 0:020db18a476d 6 *
scarter1 0:020db18a476d 7 * Redistribution and use in source and binary forms, with or without
scarter1 0:020db18a476d 8 * modification, are permitted provided that the following conditions
scarter1 0:020db18a476d 9 * are met:
scarter1 0:020db18a476d 10 *
scarter1 0:020db18a476d 11 * * Redistributions of source code must retain the above copyright
scarter1 0:020db18a476d 12 * notice, this list of conditions and the following disclaimer.
scarter1 0:020db18a476d 13 * * Redistributions in binary form must reproduce the above
scarter1 0:020db18a476d 14 * copyright notice, this list of conditions and the following
scarter1 0:020db18a476d 15 * disclaimer in the documentation and/or other materials provided
scarter1 0:020db18a476d 16 * with the distribution.
scarter1 0:020db18a476d 17 * * Neither the name of Willow Garage, Inc. nor the names of its
scarter1 0:020db18a476d 18 * contributors may be used to endorse or promote prducts derived
scarter1 0:020db18a476d 19 * from this software without specific prior written permission.
scarter1 0:020db18a476d 20 *
scarter1 0:020db18a476d 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
scarter1 0:020db18a476d 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
scarter1 0:020db18a476d 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
scarter1 0:020db18a476d 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
scarter1 0:020db18a476d 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
scarter1 0:020db18a476d 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
scarter1 0:020db18a476d 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
scarter1 0:020db18a476d 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
scarter1 0:020db18a476d 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
scarter1 0:020db18a476d 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
scarter1 0:020db18a476d 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
scarter1 0:020db18a476d 32 * POSSIBILITY OF SUCH DAMAGE.
scarter1 0:020db18a476d 33 */
scarter1 0:020db18a476d 34
scarter1 0:020db18a476d 35 #ifndef _ROS_PUBLISHER_H_
scarter1 0:020db18a476d 36 #define _ROS_PUBLISHER_H_
scarter1 0:020db18a476d 37
scarter1 0:020db18a476d 38 #include "rosserial_msgs/TopicInfo.h"
scarter1 0:020db18a476d 39 #include "ros/node_handle.h"
scarter1 0:020db18a476d 40
scarter1 0:020db18a476d 41 namespace ros
scarter1 0:020db18a476d 42 {
scarter1 0:020db18a476d 43
scarter1 0:020db18a476d 44 /* Generic Publisher */
scarter1 0:020db18a476d 45 class Publisher
scarter1 0:020db18a476d 46 {
scarter1 0:020db18a476d 47 public:
scarter1 0:020db18a476d 48 Publisher(const char * topic_name, Msg * msg, int endpoint = rosserial_msgs::TopicInfo::ID_PUBLISHER) :
scarter1 0:020db18a476d 49 topic_(topic_name),
scarter1 0:020db18a476d 50 msg_(msg),
scarter1 0:020db18a476d 51 endpoint_(endpoint) {};
scarter1 0:020db18a476d 52
scarter1 0:020db18a476d 53 int publish(const Msg * msg)
scarter1 0:020db18a476d 54 {
scarter1 0:020db18a476d 55 return nh_->publish(id_, msg);
scarter1 0:020db18a476d 56 };
scarter1 0:020db18a476d 57 int getEndpointType()
scarter1 0:020db18a476d 58 {
scarter1 0:020db18a476d 59 return endpoint_;
scarter1 0:020db18a476d 60 }
scarter1 0:020db18a476d 61
scarter1 0:020db18a476d 62 const char * topic_;
scarter1 0:020db18a476d 63 Msg *msg_;
scarter1 0:020db18a476d 64 // id_ and no_ are set by NodeHandle when we advertise
scarter1 0:020db18a476d 65 int id_;
scarter1 0:020db18a476d 66 NodeHandleBase_* nh_;
scarter1 0:020db18a476d 67
scarter1 0:020db18a476d 68 private:
scarter1 0:020db18a476d 69 int endpoint_;
scarter1 0:020db18a476d 70 };
scarter1 0:020db18a476d 71
scarter1 0:020db18a476d 72 }
scarter1 0:020db18a476d 73
scarter1 0:020db18a476d 74 #endif