void ConnectionBasedNodelet::connectionCallback(const ros::SingleSubscriberPublisher& pub)
{
if (verbose_connection_) {
JSK_NODELET_INFO("New connection or disconnection is detected");
}
if (!always_subscribe_) {
boost::mutex::scoped_lock lock(connection_mutex_);
for (size_t i = 0; i < publishers_.size(); i++) {
ros::Publisher pub = publishers_[i];
if (pub.getNumSubscribers() > 0) {
if (!ever_subscribed_) {
ever_subscribed_ = true;
}
if (connection_status_ != SUBSCRIBED) {
if (verbose_connection_) {
JSK_NODELET_INFO("Subscribe input topics");
}
subscribe();
connection_status_ = SUBSCRIBED;
}
return;
}
}
if (connection_status_ == SUBSCRIBED) {
if (verbose_connection_) {
JSK_NODELET_INFO("Unsubscribe input topics");
}
unsubscribe();
connection_status_ = NOT_SUBSCRIBED;
}
}
}
void subscriberCallback(const ros::SingleSubscriberPublisher& pub)
{
test_roscpp::TestEmpty msg;
for(int i = 0; i < g_msg_count; i++)
{
pub.publish(msg);
ROS_INFO("published message %d", i);
}
}
void connectCallback(const ros::SingleSubscriberPublisher &pub, int msg_count, int min_size, int max_size)
{
test_roscpp::TestArray msg;
for(int i = 0; i < msg_count; i++)
{
msg.counter = i;
int j = min_size + (int) ((max_size - min_size) * (rand() / (RAND_MAX + 1.0)));
msg.float_arr.resize(j);
ROS_INFO("published message %d (%d bytes)\n",
msg.counter, ros::serialization::Serializer<test_roscpp::TestArray>::serializedLength(msg));
pub.publish(msg);
}
}
void ROSMaestroController::connectCallback(const ros::SingleSubscriberPublisher& pub) {
ROS_INFO("Connect: %s - %s", pub.getSubscriberName().c_str(), pub.getTopic().c_str());
timer_.start();
}
void connect_compass_callback(const ros::SingleSubscriberPublisher& pub)
{
std_msgs::Int8 msg;
msg.data = get_compass();
pub.publish(msg);
}
void connect_odometry_callback(const ros::SingleSubscriberPublisher& pub)
{
pack_pose(_q,_odom);
pub.publish(_odom);
}
