transport_delay.cpp
No OneTemporary
Actions

Subscribers

None

File Metadata

	#include "ros/ros.h"
	#include "boost/thread.hpp"
	#include "boost/thread/mutex.hpp"
	#include "boost/circular_buffer.hpp"
	#include "test_package/aircraft_controls.h"

	class TDelay
	{
	public:
	TDelay(const ros::NodeHandle &n);
	virtual ~TDelay(){}

	/** main loop */
	void run();

	private:
	double delay_mean;
	double delay_deviation;

	boost::circular_buffer<test_package::aircraft_controls> buffer;
	boost::mutex m_mutex;

	std::shared_ptr<ros::NodeHandle> nh;
	ros::Publisher pub;
	ros::Subscriber sub;

	void inputCallback(const test_package::aircraft_controls::Ptr &input);
	void publish();
	};

	TDelay::TDelay(const ros::NodeHandle &n)
	{
	nh = std::make_shared<ros::NodeHandle>(n);
	}

	int main(int argc, char** argv)
	{
	return 0;
	}