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move uorb::publisherbase into constructor of publisher

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Thomas Gubler
2015-01-23 08:12:46 +01:00
parent 59f05a7195
commit 16c85c6d18
3 changed files with 7 additions and 11 deletions
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src/platforms/px4_subscriber.h
+4 -3
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@@ -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