LazyNodelet for features/*

pcl_ros/include/pcl_ros/features/boundary.h

@@ -65,7 +65,7 @@ namespace pcl_ros
       childInit (ros::NodeHandle &nh)
       {
         // Create the output publisher
-        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
         return (true);
       }
 

pcl_ros/include/pcl_ros/features/feature.h

@@ -165,6 +165,10 @@ namespace pcl_ros
       /** \brief Nodelet initialization routine. */
       virtual void onInit ();
 
+      /** \brief NodeletLazy connection routine. */
+      virtual void subscribe ();
+      virtual void unsubscribe ();
+
       /** \brief Input point cloud callback. Used when \a use_indices and \a use_surface are set.
         * \param cloud the pointer to the input point cloud
         * \param cloud_surface the pointer to the surface point cloud
@@ -224,6 +228,10 @@ namespace pcl_ros
       /** \brief Nodelet initialization routine. */
       virtual void onInit ();
 
+      /** \brief NodeletLazy connection routine. */
+      virtual void subscribe ();
+      virtual void unsubscribe ();
+
       /** \brief Input point cloud callback. Used when \a use_indices and \a use_surface are set.
         * \param cloud the pointer to the input point cloud
         * \param cloud_normals the pointer to the input point cloud normals

pcl_ros/include/pcl_ros/features/fpfh.h

@@ -77,7 +77,7 @@ namespace pcl_ros
       childInit (ros::NodeHandle &nh)
       {
         // Create the output publisher
-        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
         return (true);
       }
 

pcl_ros/include/pcl_ros/features/fpfh_omp.h

@@ -74,7 +74,7 @@ namespace pcl_ros
       childInit (ros::NodeHandle &nh)
       {
         // Create the output publisher
-        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
         return (true);
       }
 

pcl_ros/include/pcl_ros/features/moment_invariants.h

@@ -61,7 +61,7 @@ namespace pcl_ros
       childInit (ros::NodeHandle &nh)
       {
         // Create the output publisher
-        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
         return (true);
       }
 

pcl_ros/include/pcl_ros/features/normal_3d.h

@@ -63,7 +63,7 @@ namespace pcl_ros
       childInit (ros::NodeHandle &nh)
       {
         // Create the output publisher
-        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
         return (true);
       }
 

pcl_ros/include/pcl_ros/features/normal_3d_omp.h

@@ -59,7 +59,7 @@ namespace pcl_ros
       childInit (ros::NodeHandle &nh)
       {
         // Create the output publisher
-        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
         return (true);
       }
 

pcl_ros/include/pcl_ros/features/normal_3d_tbb.h

@@ -62,7 +62,7 @@ namespace pcl_ros
       childInit (ros::NodeHandle &nh)
       {
         // Create the output publisher
-        pub_output_ = nh.advertise<PointCloud> ("output", max_queue_size_);
+        pub_output_ = advertise<PointCloud> (nh, "output", max_queue_size_);
         return (true);
       }
 

pcl_ros/include/pcl_ros/features/pfh.h

@@ -77,7 +77,7 @@ namespace pcl_ros
       childInit (ros::NodeHandle &nh)
       {
         // Create the output publisher
-        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
         return (true);
       }
 

pcl_ros/include/pcl_ros/features/principal_curvatures.h

@@ -63,7 +63,7 @@ namespace pcl_ros
       childInit (ros::NodeHandle &nh)
       {
         // Create the output publisher
-        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
         return (true);
       }
 

pcl_ros/include/pcl_ros/features/shot.h

@@ -57,7 +57,7 @@ namespace pcl_ros
       childInit (ros::NodeHandle &nh)
       {
         // Create the output publisher
-        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
         return (true);
       }
 

pcl_ros/include/pcl_ros/features/shot_omp.h

@@ -56,7 +56,7 @@ namespace pcl_ros
       childInit (ros::NodeHandle &nh)
       {
         // Create the output publisher
-        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
         return (true);
       }
 

pcl_ros/include/pcl_ros/features/vfh.h

@@ -62,7 +62,7 @@ namespace pcl_ros
       childInit (ros::NodeHandle &nh)
       {
         // Create the output publisher
-        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
         return (true);
       }