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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2016, JSK Lab, University of Tokyo.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/o2r other materials provided
* with the distribution.
* * Neither the name of the JSK Lab nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Kentaro Wada <www.kentaro.wada@gmail.com>
*/
#include <nodelet_topic_tools/nodelet_lazy.h>
#include <std_msgs/String.h>
namespace test_nodelet_topic_tools
{
class NodeletLazyString: public nodelet_topic_tools::NodeletLazy
{
public:
protected:
virtual void onInit()
{
nodelet_topic_tools::NodeletLazy::onInit();
pub_ = advertise<std_msgs::String>(*pnh_, "output", 1);
onInitPostProcess();
}
virtual void subscribe()
{
sub_ = pnh_->subscribe("input", 1, &NodeletLazyString::callback, this);
}
virtual void unsubscribe()
{
sub_.shutdown();
}
virtual void callback(const std_msgs::String::ConstPtr& msg)
{
pub_.publish(msg);
}
ros::Publisher pub_;
ros::Subscriber sub_;
private:
};
} // namespace test_nodelet_topic_tools
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(test_nodelet_topic_tools::NodeletLazyString, nodelet::Nodelet);
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