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move ros::publisher into constructor of publisher

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Thomas Gubler
2015-01-23 08:03:07 +01:00
parent 2dfd30c25e
commit 59f05a7195
2 changed files with 5 additions and 6 deletions
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src/platforms/px4_nodehandle.h
+1 -3
View File
@@ -116,8 +116,7 @@ public:
template<typename T>
Publisher<T>* advertise()
{
ros::Publisher ros_pub = ros::NodeHandle::advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>(T::handle(), kQueueSizeDefault);
PublisherROS<T> *pub = new PublisherROS<T>(ros_pub);
PublisherROS<T> *pub = new PublisherROS<T>((ros::NodeHandle*)this);
_pubs.push_back((PublisherBase*)pub);
return (Publisher<T>*)pub;
}
@@ -134,7 +133,6 @@ public:
private:
static const uint32_t kQueueSizeDefault = 1; /**< Size of queue for ROS */
std::list<SubscriberBase *> _subs; /**< Subcriptions of node */
std::list<PublisherBase *> _pubs; /**< Publications of node */
};
src/platforms/px4_publisher.h
+4 -3
View File
@@ -84,9 +84,9 @@ public:
* Construct Publisher by providing a ros::Publisher
* @param ros_pub the ros publisher which will be used to perform the publications
*/
PublisherROS(ros::Publisher ros_pub) :
PublisherROS(ros::NodeHandle *rnh) :
Publisher<T>(),
_ros_pub(ros_pub)
_ros_pub(rnh->advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>(T::handle(), kQueueSizeDefault))
{}
~PublisherROS() {};
@@ -99,7 +99,8 @@ public:
_ros_pub.publish(msg.data());
return 0;
}
private:
protected:
static const uint32_t kQueueSizeDefault = 1; /**< Size of queue for ROS */
ros::Publisher _ros_pub; /**< Handle to the ros publisher */
};
#else