int main(int argc, char **argv)
{
//Initiate ROS
ros::init(argc, argv, "subscribe_and_publish");
// Create the vector of topics that will be used to store the list of current topics
ros::master::V_TopicInfo topics;
ros::master::getTopics(topics);
// Create the string that will be searched for in the topics:
std::string searchString = "/vrpn_client_node/";
//Create an object of class SubscribeAndPublish that will take care of everything
SubscribeAndPublish SAPObject("testingishere");
SubscribeAndPublish SAPObject2("testingishere2");
// Will I need a while ros::ok() loop?
ros::master::TopicInfo testing;
int i=0;
std::string topicToCreate;
// Here we need to create a vector of SubPubs, so that we can create many objects
std::vector<SubscribeAndPublish> SubPubVector;
//for (i=0;i<topics.size();i++){
for (i=(topics.size()-1);i>0;i--){
ROS_INFO("we are at %d", i);
testing = topics.at(i);
std::size_t pos = testing.name.find(searchString);
if (pos != std::string::npos){
// Need to create a Subscribe and Publish
// The topics we are looking for in this case will look something like:
// /vrpn_client_node/Ardrone/pose
// Generically, they could look like anything in the searchString
topicToCreate = (testing.name.substr(pos+searchString.length()));// The pos is there in case the search string doesn't start at the beginning of the topic name
ROS_INFO("We are going to create %s", topicToCreate.c_str());
SubscribeAndPublish SAPObject(topicToCreate);
SubPubVector.push_back(SAPObject);
} // end if
} // end for
ros::spin();
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "Odometry_publisher");
ros::NodeHandle nh_private("~");
std::string talker_topic = "";
if(!nh_private.getParam("talker_topic", talker_topic)){
talker_topic = "/talker_boost_serial";
}
SubscribeAndPublish SAPObject(talker_topic);
SAPObject.current_time = ros::Time::now();
SAPObject.last_time = ros::Time::now();
ros::spin();
}
