ros_init.hh

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#ifndef ROS_INIT_HH
#define ROS_INIT_HH

#include <ros/ros.h>

namespace dynamic_graph
{
struct GlobalRos
{
    GlobalRos()
    {
        node_handle_ = nullptr;
        async_spinner_ = nullptr;
    }

    ~GlobalRos()
    {
        if (async_spinner_)
        {
            async_spinner_->stop();
        }
        if (node_handle_)
        {
            node_handle_->shutdown();
        }
    }
    boost::shared_ptr<ros::NodeHandle> node_handle_;
    boost::shared_ptr<ros::AsyncSpinner> async_spinner_;
};

ros::NodeHandle& ros_init(std::string node_name);

ros::AsyncSpinner& ros_spinner(std::string node_name);

void ros_shutdown(std::string node_name);

void ros_shutdown();

bool ros_exist(std::string node_name);

}  // end of namespace dynamic_graph.

#endif