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)
+{
+
+}
+
+}
+