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create list of subscribers

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This commit is contained in:
Thomas Gubler
2014-11-24 18:53:08 +01:00
parent 1826fa5d39
commit e2f846ee2f
3 changed files with 14 additions and 3 deletions
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src/platforms/px4_nodehandle.h
+12 -2
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@@ -40,6 +40,7 @@
#include <px4_subscriber.h>
#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
#include "ros/ros.h"
#include <list>
#endif
namespace px4
@@ -48,12 +49,21 @@ namespace px4
class NodeHandle : private ros::NodeHandle
{
public:
NodeHandle () :
ros::NodeHandle(),
_subs()
{}
template<class M>
Subscriber* subscribe(const char *topic, void(*fp)(M)) {
Subscriber subscribe(const char *topic, void(*fp)(M)) {
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, 1000, fp);
//XXX create list here, for ros and nuttx
return new Subscriber(ros_sub);
Subscriber sub(ros_sub);
_subs.push_back(sub);
return sub;
}
private:
std::list<Subscriber> _subs;
};
#else
class NodeHandle