v01

thirdparty/ros/ros_comm/tools/topic_tools/sample/simple_lazy_transport.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python
+
+import roslib.message
+import rospy
+
+from topic_tools import LazyTransport
+
+
+class SimpleLazyTransport(LazyTransport):
+    def __init__(self):
+        super(self.__class__, self).__init__()
+        msg_name = rospy.get_param('~msg_name')
+        self.msg_class = roslib.message.get_message_class(msg_name)
+        self._pub = self.advertise('~output', self.msg_class, queue_size=1)
+
+    def subscribe(self):
+        self._sub = rospy.Subscriber('~input', self.msg_class, self._process)
+
+    def unsubscribe(self):
+        self._sub.unregister()
+
+    def _process(self, img_msg):
+        self._pub.publish(img_msg)
+
+
+if __name__ == '__main__':
+    rospy.init_node('simple_transport')
+    app = SimpleLazyTransport()
+    rospy.spin()