subscriber new constructor with param server

include/subscriber.h

@@ -16,18 +16,43 @@
 namespace wolf {
 WOLF_PTR_TYPEDEFS(Subscriber);
 
+/*
+ * Macro for defining Autoconf subscriber creator for WOLF's high level API.
+ *
+ * Place a call to this macro inside your class declaration (in the subscriber_class.h file),
+ * preferably just after the constructors.
+ *
+ * In order to use this macro, the derived subscriber class, SubscriberClass,
+ * must have a constructor available with the API:
+ *
+ *   SubscriberClass(const std::string& _unique_name,
+ *                   const ParamsServer& _server,
+ *                   const SensorBasePtr _sensor_ptr);
+ */
+#define WOLF_SUBSCRIBER_CREATE(SubscriberClass)                                     \
+static SubscriberPtr create(const std::string& _unique_name,                        \
+                            const ParamsServer& _server,                            \
+                            const SensorBasePtr _sensor_ptr)                        \
+{                                                                                   \
+    return std::make_shared<SubscriberClass>(_unique_name, _server, _sensor_ptr);   \
+}                                                                                   \
+
 class Subscriber
 {
     protected:
         //wolf
         SensorBasePtr sensor_ptr_;
+        std::string prefix_;
 
         // ros
         ros::Subscriber sub_;
 
     public:
-        Subscriber(const SensorBasePtr& sensor_ptr) :
-            sensor_ptr_(sensor_ptr)
+        Subscriber(const std::string& _unique_name,
+                   const ParamsServer& _server,
+                   const SensorBasePtr _sensor_ptr) :
+            sensor_ptr_(_sensor_ptr),
+            prefix_("ROS subscriber/" + _unique_name)
         {
         }
         virtual ~Subscriber(){};

include/subscriber_diffdrive.h

@@ -26,13 +26,14 @@ class SubscriberDiffdrive : public Subscriber
 
    public:
 
-    SubscriberDiffdrive(const SensorBasePtr& sensor_ptr);
+    SubscriberDiffdrive(const std::string& _unique_name,
+                        const ParamsServer& _server,
+                        const SensorBasePtr _sensor_ptr);
+    WOLF_SUBSCRIBER_CREATE(SubscriberDiffdrive);
 
     virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
 
     void callback(const sensor_msgs::JointState::ConstPtr& msg);
-
-    static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
 };
 
 WOLF_REGISTER_SUBSCRIBER(SubscriberDiffdrive)

include/subscriber_odom2d.h

@@ -22,13 +22,14 @@ class SubscriberOdom2d : public Subscriber
 
    public:
 
-    SubscriberOdom2d(const SensorBasePtr& sensor_ptr);
+    SubscriberOdom2d(const std::string& _unique_name,
+                     const ParamsServer& _server,
+                     const SensorBasePtr _sensor_ptr);
+    WOLF_SUBSCRIBER_CREATE(SubscriberOdom2d);
 
     virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
 
     void callback(const nav_msgs::Odometry::ConstPtr& msg);
-
-    static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
 };
 
 WOLF_REGISTER_SUBSCRIBER(SubscriberOdom2d)

src/subscriber_diffdrive.cpp

@@ -12,13 +12,15 @@
 
 namespace wolf
 {
-SubscriberDiffdrive::SubscriberDiffdrive(const SensorBasePtr& sensor_ptr)
-  : Subscriber(sensor_ptr)
+SubscriberDiffdrive::SubscriberDiffdrive(const std::string& _unique_name,
+                                         const ParamsServer& _server,
+                                         const SensorBasePtr _sensor_ptr)
+  : Subscriber(_unique_name, _server, _sensor_ptr)
   , last_odom_stamp_(ros::Time(0))
   , last_odom_seq_(-1)
 {
   last_angles_ = Eigen::Vector2d();
-  ticks_cov_factor_ = std::static_pointer_cast<SensorDiffDrive>(sensor_ptr)->getParams()->ticks_cov_factor;
+  ticks_cov_factor_ = std::static_pointer_cast<SensorDiffDrive>(_sensor_ptr)->getParams()->ticks_cov_factor;
 }
 
 void SubscriberDiffdrive::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
@@ -66,10 +68,4 @@ void SubscriberDiffdrive::callback(const sensor_msgs::JointState::ConstPtr& msg)
   last_odom_seq_   = msg->header.seq;
 }
 
-std::shared_ptr<Subscriber> SubscriberDiffdrive::create(const std::string&  _unique_name,
-                                                        const ParamsServer& _params,
-                                                        const SensorBasePtr _sensor_ptr)
-{
-    return std::make_shared<SubscriberDiffdrive>(_sensor_ptr);
-};
 }  // namespace wolf

src/subscriber_odom2d.cpp

@@ -23,11 +23,13 @@
 
 namespace wolf
 {
-SubscriberOdom2d::SubscriberOdom2d(const SensorBasePtr& sensor_ptr)
-  : Subscriber(sensor_ptr)
+SubscriberOdom2d::SubscriberOdom2d(const std::string& _unique_name,
+                                   const ParamsServer& _server,
+                                   const SensorBasePtr _sensor_ptr)
+  : Subscriber(_unique_name, _server, _sensor_ptr)
   , last_odom_stamp_(ros::Time(0))
-  , odometry_translational_cov_factor_(std::static_pointer_cast<SensorOdom2d>(sensor_ptr)->getDispVarToDispNoiseFactor())
-  , odometry_rotational_cov_factor_(std::static_pointer_cast<SensorOdom2d>(sensor_ptr)->getRotVarToRotNoiseFactor())
+  , odometry_translational_cov_factor_(std::static_pointer_cast<SensorOdom2d>(_sensor_ptr)->getDispVarToDispNoiseFactor())
+  , odometry_rotational_cov_factor_(std::static_pointer_cast<SensorOdom2d>(_sensor_ptr)->getRotVarToRotNoiseFactor())
 {
 }
 
@@ -58,10 +60,4 @@ void SubscriberOdom2d::callback(const nav_msgs::Odometry::ConstPtr& msg)
     ROS_DEBUG("WolfNodePolyline::odomCallback: end");
 }
 
-std::shared_ptr<Subscriber> SubscriberOdom2d::create(const std::string&  _unique_name,
-                                                     const ParamsServer& _params,
-                                                     const SensorBasePtr _sensor_ptr)
-{
-    return std::make_shared<SubscriberOdom2d>(_sensor_ptr);
-};
 }  // namespace wolf