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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-10 07:31:55 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-10 07:31:55 +0100 |
commit | 2bbc98067a16621b49f103fc3e1ae099ab957aa8 (patch) | |
tree | af4b6171e2fea35e736b04b56bea25429f835fb5 /src/platforms/ros/px4_nodehandle.cpp | |
parent | f36f54c621cb5b36d345c5a26f72e89fc948fa65 (diff) | |
download | px4-firmware-ros_wrapper.tar.gz px4-firmware-ros_wrapper.tar.bz2 px4-firmware-ros_wrapper.zip |
Complementing ROS wrapper, not compiling yetros_wrapper
Diffstat (limited to 'src/platforms/ros/px4_nodehandle.cpp')
-rw-r--r-- | src/platforms/ros/px4_nodehandle.cpp | 71 |
1 files changed, 71 insertions, 0 deletions
diff --git a/src/platforms/ros/px4_nodehandle.cpp b/src/platforms/ros/px4_nodehandle.cpp new file mode 100644 index 000000000..274a447c8 --- /dev/null +++ b/src/platforms/ros/px4_nodehandle.cpp @@ -0,0 +1,71 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 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. + * + ****************************************************************************/ + +/** + * @file px4_nodehandle.cpp + * + * PX4 Middleware Wrapper Node Handle + */ + +namespace px4 { + +void NodeHandle::spinOnce() +{ + ros::spinOnce(); +} + +void NodeHandle::spin() +{ + ros::spin(); +} + +bool NodeHandle::ok() +{ + return ros::ok(); +} + +template<class M > Publisher +NodeHandle::advertise (const char* topic, uint32_t queue_size, bool latch=false) +{ + +} + +template <class M> Subscriber +NodeHandle::subscribe(const char* topic_name, uint32_t queue_size, + const std::function< void(const std::shared_ptr< M const > &)> &callback) +{ + +} + +} + |