move ros::subscriber into constructor of subscriber

src/platforms/px4_nodehandle.h

@@ -81,9 +81,7 @@ public:
 	template<typename T>
 	Subscriber<T> *subscribe(void(*fp)(const T &))
 	{
-		SubscriberBase *sub = new SubscriberROS<T>(std::bind(fp, std::placeholders::_1)); 		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
+		SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, std::placeholders::_1));
-				&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);
-		((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
 		_subs.push_back(sub);
 		return (Subscriber<T> *)sub;
 	}
@@ -96,11 +94,7 @@ public:
 	template<typename T, typename C>
 	Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj)
 	{
-		SubscriberBase *sub = new SubscriberROS<T>(std::bind(fp, obj, std::placeholders::_1));
+		SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, obj, std::placeholders::_1));
-		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
-				&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);//XXX needs cleanup in destructor ore move into class
-
-		((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
 		_subs.push_back(sub);
 		return (Subscriber<T> *)sub;
 	}
@@ -111,10 +105,7 @@ public:
 	template<typename T>
 	Subscriber<T> *subscribe()
 	{
-		SubscriberBase *sub = new SubscriberROS<T>();
+		SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this);
-		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
-				&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);
-		((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
 		_subs.push_back(sub);
 		return (Subscriber<T> *)sub;
 	}

src/platforms/px4_subscriber.h

@@ -102,24 +102,23 @@ class SubscriberROS :
 
 public:
 	/**
-	 * Construct Subscriber by providing a callback function
+	 * Construct Subscriber without a callback function
 	 */
-	SubscriberROS(std::function<void(const T &)> cbf) :
+	SubscriberROS(ros::NodeHandle *rnh) :
-		Subscriber<T>(),
+		px4::Subscriber<T>(),
-		_ros_sub(),
+		_cbf(NULL),
-		_cbf(cbf)
+		_ros_sub(rnh->subscribe(T::handle(), 1, &SubscriberROS<T>::callback, this))
 	{}
 
 	/**
-	 * Construct Subscriber without a callback function
+	 * Construct Subscriber by providing a callback function
 	 */
-	SubscriberROS() :
+	//XXX queue default
-		Subscriber<T>(),
+	SubscriberROS(ros::NodeHandle *rnh, std::function<void(const T &)> cbf) :
-		_ros_sub(),
+		_cbf(cbf),
-		_cbf(NULL)
+		_ros_sub(rnh->subscribe(T::handle(), 1, &SubscriberROS<T>::callback, this))
 	{}
 
-
 	virtual ~SubscriberROS() {};
 
 protected:
@@ -139,14 +138,6 @@ protected:
 
 	}
 
-	/**
-	 * Saves the ros subscriber to keep ros subscription alive
-	 */
-	void set_ros_sub(ros::Subscriber ros_sub)
-	{
-		_ros_sub = ros_sub;
-	}
-
 	ros::Subscriber _ros_sub;		/**< Handle to ros subscriber */
 	std::function<void(const T &)> _cbf;	/**< Callback that the user provided on the subscription */