publisher.h

00001 /* 
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00034 
00035 #ifndef _ROS_PUBLISHER_H_
00036 #define _ROS_PUBLISHER_H_
00037 
00038 #include "rosserial_msgs/TopicInfo.h"
00039 #include "ros/node_handle.h"
00040 
00041 namespace ros {
00042 
00043   /* Generic Publisher */
00044   class Publisher
00045   {
00046     public:
00047       Publisher( const char * topic_name, Msg * msg, int endpoint=rosserial_msgs::TopicInfo::ID_PUBLISHER) :
00048         topic_(topic_name), 
00049         msg_(msg),
00050         endpoint_(endpoint) {};
00051 
00052       int publish( const Msg * msg ) { return nh_->publish(id_, msg); };
00053       int getEndpointType(){ return endpoint_; }
00054 
00055       const char * topic_;
00056       Msg *msg_;
00057       // id_ and no_ are set by NodeHandle when we advertise 
00058       int id_;
00059       NodeHandleBase_* nh_;
00060 
00061     private:
00062       int endpoint_;
00063   };
00064 
00065 }
00066 
00067 #endif