Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
publisher.h
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote prducts derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 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 00044 /* Generic Publisher */ 00045 class Publisher 00046 { 00047 public: 00048 Publisher(const char * topic_name, Msg * msg, int endpoint = rosserial_msgs::TopicInfo::ID_PUBLISHER) : 00049 topic_(topic_name), 00050 msg_(msg), 00051 endpoint_(endpoint) {}; 00052 00053 int publish(const Msg * msg) 00054 { 00055 return nh_->publish(id_, msg); 00056 }; 00057 int getEndpointType() 00058 { 00059 return endpoint_; 00060 } 00061 00062 const char * topic_; 00063 Msg *msg_; 00064 // id_ and no_ are set by NodeHandle when we advertise 00065 int id_; 00066 NodeHandleBase_* nh_; 00067 00068 private: 00069 int endpoint_; 00070 }; 00071 00072 } 00073 00074 #endif
Generated on Tue Jul 12 2022 18:49:19 by 1.7.2