/usr/include/message_filters/subscriber.h is in libmessage-filters-dev 1.12.6-2.
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#ifndef MESSAGE_FILTERS_SUBSCRIBER_H
#define MESSAGE_FILTERS_SUBSCRIBER_H
#include <ros/ros.h>
#include <boost/thread/mutex.hpp>
#include "connection.h"
#include "simple_filter.h"
namespace message_filters
{
class SubscriberBase
{
public:
virtual ~SubscriberBase() {}
/**
* \brief Subscribe to a topic.
*
* If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
*
* \param nh The ros::NodeHandle to use to subscribe.
* \param topic The topic to subscribe to.
* \param queue_size The subscription queue size
* \param transport_hints The transport hints to pass along
* \param callback_queue The callback queue to pass along
*/
virtual void subscribe(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = 0) = 0;
/**
* \brief Re-subscribe to a topic. Only works if this subscriber has previously been subscribed to a topic.
*/
virtual void subscribe() = 0;
/**
* \brief Force immediate unsubscription of this subscriber from its topic
*/
virtual void unsubscribe() = 0;
};
typedef boost::shared_ptr<SubscriberBase> SubscriberBasePtr;
/**
* \brief ROS subscription filter.
*
* This class acts as a highest-level filter, simply passing messages from a ROS subscription through to the
* filters which have connected to it.
*
* When this object is destroyed it will unsubscribe from the ROS subscription.
*
* The Subscriber object is templated on the type of message being subscribed to.
*
* \section connections CONNECTIONS
*
* Subscriber has no input connection.
*
* The output connection for the Subscriber object is the same signature as for roscpp subscription callbacks, ie.
\verbatim
void callback(const boost::shared_ptr<M const>&);
\endverbatim
*/
template<class M>
class Subscriber : public SubscriberBase, public SimpleFilter<M>
{
public:
typedef boost::shared_ptr<M const> MConstPtr;
typedef ros::MessageEvent<M const> EventType;
/**
* \brief Constructor
*
* See the ros::NodeHandle::subscribe() variants for more information on the parameters
*
* \param nh The ros::NodeHandle to use to subscribe.
* \param topic The topic to subscribe to.
* \param queue_size The subscription queue size
* \param transport_hints The transport hints to pass along
* \param callback_queue The callback queue to pass along
*/
Subscriber(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = 0)
{
subscribe(nh, topic, queue_size, transport_hints, callback_queue);
}
/**
* \brief Empty constructor, use subscribe() to subscribe to a topic
*/
Subscriber()
{
}
~Subscriber()
{
unsubscribe();
}
/**
* \brief Subscribe to a topic.
*
* If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
*
* \param nh The ros::NodeHandle to use to subscribe.
* \param topic The topic to subscribe to.
* \param queue_size The subscription queue size
* \param transport_hints The transport hints to pass along
* \param callback_queue The callback queue to pass along
*/
void subscribe(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = 0)
{
unsubscribe();
if (!topic.empty())
{
ops_.template initByFullCallbackType<const EventType&>(topic, queue_size, boost::bind(&Subscriber<M>::cb, this, _1));
ops_.callback_queue = callback_queue;
ops_.transport_hints = transport_hints;
sub_ = nh.subscribe(ops_);
nh_ = nh;
}
}
/**
* \brief Re-subscribe to a topic. Only works if this subscriber has previously been subscribed to a topic.
*/
void subscribe()
{
unsubscribe();
if (!ops_.topic.empty())
{
sub_ = nh_.subscribe(ops_);
}
}
/**
* \brief Force immediate unsubscription of this subscriber from its topic
*/
void unsubscribe()
{
sub_.shutdown();
}
std::string getTopic() const
{
return ops_.topic;
}
/**
* \brief Returns the internal ros::Subscriber object
*/
const ros::Subscriber& getSubscriber() const { return sub_; }
/**
* \brief Does nothing. Provided so that Subscriber may be used in a message_filters::Chain
*/
template<typename F>
void connectInput(F& f)
{
(void)f;
}
/**
* \brief Does nothing. Provided so that Subscriber may be used in a message_filters::Chain
*/
void add(const EventType& e)
{
(void)e;
}
private:
void cb(const EventType& e)
{
this->signalMessage(e);
}
ros::Subscriber sub_;
ros::SubscribeOptions ops_;
ros::NodeHandle nh_;
};
}
#endif
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