RosPublisher.hpp

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#ifndef ORG_EEROS_CONTROL_ROSPUBLISHER_HPP_
#define ORG_EEROS_CONTROL_ROSPUBLISHER_HPP_

#include <ros/ros.h>
#include <ros/callback_queue.h>
// #include <eeros/core/System.hpp>
#include <eeros/control/ros/EerosRosTools.hpp>
#include <eeros/control/Block1i.hpp>

namespace eeros {
    namespace control {
        template < typename TRosMsg, typename SigInType >
        class RosPublisher : public Block1i<SigInType> {

        public:
            RosPublisher(const std::string& topic, uint32_t queueSize=1000, bool callNewest=false) :
                topic (topic)
//              callNewest(callNewest)
            {
                ros::NodeHandle handle;
                publisher = handle.advertise<TRosMsg>(topic, queueSize);
                ROS_DEBUG_STREAM("RosBlockPublisher, reading from topic: '" << topic << "' created.");
            }

            virtual void setRosMsg( TRosMsg& msg ) = 0;
            
            void run() {
                setRosMsg(msg);
                publisher.publish(msg);
            }


        protected:
            ros::Publisher publisher;
            const std::string& topic;
//          bool callNewest;
            TRosMsg msg;

        private:
        };
    }
}

#endif /* ORG_EEROS_CONTROL_ROSPUBLISHER_HPP_ */