int main(int argc, char **argv)
{
if (argc < 2)
{
printf("\nusage: relay IN_TOPIC [OUT_TOPIC]\n\n");
return 1;
}
std::string topic_name;
if(!getBaseName(string(argv[1]), topic_name))
return 1;
ros::init(argc, argv, topic_name + string("_relay"),
ros::init_options::AnonymousName);
if (argc == 2)
g_output_topic = string(argv[1]) + string("_relay");
else // argc == 3
g_output_topic = string(argv[2]);
g_input_topic = string(argv[1]);
ros::NodeHandle n;
g_node = &n;
ros::NodeHandle pnh("~");
bool unreliable = false;
pnh.getParam("unreliable", unreliable);
pnh.getParam("lazy", g_lazy);
if (unreliable)
g_th.unreliable().reliable(); // Prefers unreliable, but will accept reliable.
g_sub = new ros::Subscriber(n.subscribe<ShapeShifter>(g_input_topic, 10, &in_cb, g_th));
ros::spin();
return 0;
}
int main(int argc, char **argv) {
if (argc < 2) {
printf("\nusage: relay TOPIC [VARIANT_TOPIC]\n\n");
return 1;
}
if (!getTopicBase((argv[1]), publisherTopic)) {
ROS_ERROR("Failed to extract topic base from [%s]", argv[1]);
return 1;
}
ros::init(argc, argv, publisherTopic+"_relay",
ros::init_options::AnonymousName);
if (argc == 2)
publisherTopic = std::string(argv[1])+"_relay";
else
publisherTopic = argv[2];
subscriberTopic = argv[1];
nodeHandle.reset(new ros::NodeHandle("~"));
bool unreliable = false;
nodeHandle->getParam("unreliable", unreliable);
nodeHandle->getParam("lazy", lazy);
if (unreliable)
subscriberTransportHints.unreliable().reliable();
subscribe();
ros::spin();
return 0;
}
