publisher.h

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#ifndef _ROS_PUBLISHER_H_
#define _ROS_PUBLISHER_H_

#include "rosserial_msgs/TopicInfo.h"
#include "node_handle.h"

namespace ros {

  /* Generic Publisher */
  class Publisher
  {
    public:
      Publisher( const char * topic_name, Msg * msg, int endpoint=rosserial_msgs::TopicInfo::ID_PUBLISHER) :
        topic_(topic_name), 
        msg_(msg),
        endpoint_(endpoint) {};

      int publish( const Msg * msg ) { return nh_->publish(id_, msg); };
      int getEndpointType(){ return endpoint_; }

      const char * topic_;
      Msg *msg_;
      // id_ and no_ are set by NodeHandle when we advertise 
      int id_;
      NodeHandleBase_* nh_;

    private:
      int endpoint_;
  };

}

#endif