ros wrapper port callback to methods and subscriber without callback

src/examples/subscriber/subscriber_example.cpp

@@ -64,10 +64,11 @@ SubscriberExample::SubscriberExample() :
 	/* Function */
 	_n.subscribe<px4_rc_channels>(rc_channels_callback_function); //ROS version
 
-	// [> Class Method <]
-	// PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000);
-	// [> No callback <]
-	// _sub_rc_chan = PX4_SUBSCRIBE(_n, rc_channels, 500);
+	/* No callback */
+	_sub_rc_chan = _n.subscribe<px4_rc_channels>();
+
+	/* Class Method */
+	_n.subscribe<px4_rc_channels>(&SubscriberExample::rc_channels_callback, this);
 
 	PX4_INFO("subscribed");
 }
@@ -76,8 +77,9 @@ SubscriberExample::SubscriberExample() :
  * This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
  * Also the current value of the _sub_rc_chan subscription is printed
  */
-// void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) {
-	// PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]",
-			// msg.timestamp_last_valid,
-			// _sub_rc_chan->get().data().timestamp_last_valid);
-// }
+void SubscriberExample::rc_channels_callback(const px4_rc_channels &msg) {
+	PX4_INFO("Callback (method): [%llu]",
+			msg.data().timestamp_last_valid);
+	PX4_INFO("Callback (method): value of _sub_rc_chan: [%llu]",
+			_sub_rc_chan->get().data().timestamp_last_valid);
+}

src/examples/subscriber/subscriber_example.h

@@ -58,7 +58,7 @@ protected:
 	float _test_float;
 	px4::Subscriber<px4_rc_channels> * _sub_rc_chan;
 
-	// void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg);
+	void rc_channels_callback(const px4_rc_channels &msg);
 
 
 };

src/platforms/px4_nodehandle.h

@@ -91,34 +91,33 @@ public:
 
 	/**
 	 * Subscribe with callback to class method
-	 * @param topic		Name of the topic
 	 * @param fb		Callback, executed on receiving a new message
+	 * @param obj	        pointer class instance
 	 */
-	// template<typename M, typename T>
-	// Subscriber<M> *subscribe(const char *topic, void(T::*fp)(const M &), T *obj)
-	// {
-		// SubscriberBase *sub = new SubscriberROS<M>(std::bind(fp, obj, std::placeholders::_1));
-		// ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback,
-					  // (SubscriberROS<M> *)sub);
-		// ((SubscriberROS<M> *)sub)->set_ros_sub(ros_sub);
-		// _subs.push_back(sub);
-		// return (Subscriber<M> *)sub;
-	// }
+	template<typename T, typename C>
+	Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj)
+	{
+		SubscriberBase *sub = new SubscriberROS<T>(std::bind(fp, obj, std::placeholders::_1));
+		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
+				&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);
+		((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
+		_subs.push_back(sub);
+		return (Subscriber<T> *)sub;
+	}
 
 	/**
 	 * Subscribe with no callback, just the latest value is stored on updates
-	 * @param topic		Name of the topic
 	 */
-	// template<typename M>
-	// Subscriber<M> *subscribe(const char *topic)
-	// {
-		// SubscriberBase *sub = new SubscriberROS<M>();
-		// ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback,
-					  // (SubscriberROS<M> *)sub);
-		// ((SubscriberROS<M> *)sub)->set_ros_sub(ros_sub);
-		// _subs.push_back(sub);
-		// return (Subscriber<M> *)sub;
-	// }
+	template<typename T>
+	Subscriber<T> *subscribe()
+	{
+		SubscriberBase *sub = new SubscriberROS<T>();
+		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
+				&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);
+		((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
+		_subs.push_back(sub);
+		return (Subscriber<T> *)sub;
+	}
 
 	/**
 	 * Advertise topic

src/platforms/px4_subscriber.h

@@ -130,11 +130,10 @@ protected:
 	void callback(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &msg)
 	{
 		/* Store data */
-		this->_msg_current = (T)msg;
+		this->_msg_current.data() = msg;
 
 		/* Call callback */
 		if (_cbf != NULL) {
-			// _cbf(_msg_current);
 			_cbf(this->get());
 		}