diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-23 08:03:26 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-23 08:12:46 +0100 |
| commit | 16c85c6d1870f6f410cf75fc0fe3cb386eb9f6ee (patch) | |
| tree | 88b175f99a908194eca02079a8e55279e4904a4b /src/platforms/px4_subscriber.h | |
| parent | 59f05a7195ae4a2d57e276c31e12bcf6af477408 (diff) | |
| download | px4-firmware-16c85c6d1870f6f410cf75fc0fe3cb386eb9f6ee.tar.gz px4-firmware-16c85c6d1870f6f410cf75fc0fe3cb386eb9f6ee.tar.bz2 px4-firmware-16c85c6d1870f6f410cf75fc0fe3cb386eb9f6ee.zip | |
move uorb::publisherbase into constructor of publisher
Diffstat (limited to 'src/platforms/px4_subscriber.h')
| -rw-r--r-- | src/platforms/px4_subscriber.h | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/platforms/px4_subscriber.h b/src/platforms/px4_subscriber.h index e086cd4c2..17a95f12d 100644 --- a/src/platforms/px4_subscriber.h +++ b/src/platforms/px4_subscriber.h @@ -107,21 +107,22 @@ public: SubscriberROS(ros::NodeHandle *rnh) : px4::Subscriber<T>(), _cbf(NULL), - _ros_sub(rnh->subscribe(T::handle(), 1, &SubscriberROS<T>::callback, this)) + _ros_sub(rnh->subscribe(T::handle(), kQueueSizeDefault, &SubscriberROS<T>::callback, this)) {} /** * Construct Subscriber by providing a callback function */ - //XXX queue default SubscriberROS(ros::NodeHandle *rnh, std::function<void(const T &)> cbf) : _cbf(cbf), - _ros_sub(rnh->subscribe(T::handle(), 1, &SubscriberROS<T>::callback, this)) + _ros_sub(rnh->subscribe(T::handle(), kQueueSizeDefault, &SubscriberROS<T>::callback, this)) {} virtual ~SubscriberROS() {}; protected: + static const uint32_t kQueueSizeDefault = 1; /**< Size of queue for ROS */ + /** * Called on topic update, saves the current message and then calls the provided callback function * needs to use the native type as it is called by ROS |