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drop_node.cpp
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55 lines (47 loc) · 1.66 KB
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// Copyright 2021 Daisuke Nishimatsu
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <memory>
#include <optional> // NOLINT : https://github.com/ament/ament_lint/pull/324
#include <string>
#include <utility>
#include "rclcpp/rclcpp.hpp"
#include "topic_tools/drop_node.hpp"
namespace topic_tools
{
DropNode::DropNode(const rclcpp::NodeOptions & options)
: ToolBaseNode("drop", options)
{
input_topic_ = declare_parameter<std::string>("input_topic");
output_topic_ = declare_parameter<std::string>("output_topic", input_topic_ + "_drop");
lazy_ = declare_parameter<bool>("lazy", false);
x_ = declare_parameter<int>("X");
y_ = declare_parameter<int>("Y");
discovery_timer_ = this->create_wall_timer(
discovery_period_,
std::bind(&DropNode::make_subscribe_unsubscribe_decisions, this));
make_subscribe_unsubscribe_decisions();
}
void DropNode::process_message(std::shared_ptr<rclcpp::SerializedMessage> msg)
{
if (count_ >= x_) {
pub_->publish(*msg);
}
++count_;
if (count_ >= y_) {
count_ = 0;
}
}
} // namespace topic_tools
#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(topic_tools::DropNode)