Rename ros_import into ros_publish, and ros_export into ros_subscribe.

The old names are kept for now, but will disappear in the
future.

CMakeLists.txt

@@ -69,8 +69,8 @@ include(cmake/python.cmake)
 include_directories(${DYNAMIC_GRAPH_include_DIRS})
 link_directories(${DYNAMIC_GRAPH_LIBRARY_DIRS})
 
-compile_plugin(ros_import)
-compile_plugin(ros_export)
+compile_plugin(ros_publish)
+compile_plugin(ros_subscribe)
 compile_plugin(ros_time)
 
 compile_plugin(ros_joint_state)

src/dynamic_graph/ros/__init__.py

-from ros_import import RosImport
-from ros_export import RosExport
+from ros_publish import RosPublish
+from ros_subscribe import RosSubscribe
 from ros_joint_state import RosJointState
 from robot_model import RosRobotModel
 
 from ros import Ros
+
+# aliases, for retro compatibility
+ros_import = ros_publish
+ros_export = ros_subscribe
+from ros import RosPublish as RosImport
+from ros import RosSubscribe as RosExport

src/dynamic_graph/ros/ros.py

-from ros_import import RosImport
-from ros_export import RosExport
+from ros_publish import RosPublish
+from ros_subscribe import RosSubscribe
 from ros_joint_state import RosJointState
 from ros_time import RosTime
 
@@ -7,20 +7,28 @@ from dynamic_graph import plug
 
 class Ros(object):
     device = None
+    rosPublish = None
+    rosSubscribe = None
+    rosJointState = None
+
+    # aliases, for retro compatibility
     rosImport = None
     rosExport = None
-    rosJointState = None
 
     def __init__(self, robot, suffix = ''):
         self.robot = robot
-        self.rosImport = RosImport('rosImport{0}'.format(suffix))
-        self.rosExport = RosExport('rosExport{0}'.format(suffix))
+        self.rosPublish = RosPublish('rosPublish{0}'.format(suffix))
+        self.rosSubscribe = RosSubscribe('rosSubscribe{0}'.format(suffix))
         self.rosJointState = RosJointState('rosJointState{0}'.format(suffix))
         self.rosJointState.retrieveJointNames(self.robot.dynamic.name)
         self.rosTime = RosTime ('rosTime{0}'.format(suffix))
 
         plug(self.robot.device.state, self.rosJointState.state)
         self.robot.device.after.addSignal(
-            '{0}.trigger'.format(self.rosImport.name))
+            '{0}.trigger'.format(self.rosPublish.name))
         self.robot.device.after.addSignal(
             '{0}.trigger'.format(self.rosJointState.name))
+
+        # aliases, for retro compatibility
+        self.rosImport=self.rosPublish
+        self.rosExport=self.rosSubscribe

src/ros_import.cpp → src/ros_publish.cpp

@@ -15,18 +15,18 @@
 #include <dynamic-graph/command.h>
 
 #include "dynamic_graph_bridge/ros_init.hh"
-#include "ros_import.hh"
+#include "ros_publish.hh"
 
 namespace dynamicgraph
 {
-  DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosImport, "RosImport");
+  DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosPublish, "RosPublish");
 
   namespace command
   {
-    namespace rosImport
+    namespace rosPublish
     {
       Clear::Clear
-      (RosImport& entity, const std::string& docstring)
+      (RosPublish& entity, const std::string& docstring)
 	: Command
 	  (entity,
 	   std::vector<Value::Type> (),
@@ -35,15 +35,15 @@ namespace dynamicgraph
 
       Value Clear::doExecute ()
       {
-	RosImport& entity =
-	  static_cast<RosImport&> (owner ());
+	RosPublish& entity =
+	  static_cast<RosPublish&> (owner ());
 
 	entity.clear ();
 	return Value ();
       }
 
       List::List
-      (RosImport& entity, const std::string& docstring)
+      (RosPublish& entity, const std::string& docstring)
 	: Command
 	  (entity,
 	   std::vector<Value::Type> (),
@@ -52,13 +52,13 @@ namespace dynamicgraph
 
       Value List::doExecute ()
       {
-	RosImport& entity =
-	  static_cast<RosImport&> (owner ());
+	RosPublish& entity =
+	  static_cast<RosPublish&> (owner ());
 	return Value (entity.list ());
       }
 
       Add::Add
-      (RosImport& entity, const std::string& docstring)
+      (RosPublish& entity, const std::string& docstring)
 	: Command
 	  (entity,
 	   boost::assign::list_of
@@ -68,8 +68,8 @@ namespace dynamicgraph
 
       Value Add::doExecute ()
       {
-	RosImport& entity =
-	  static_cast<RosImport&> (owner ());
+	RosPublish& entity =
+	  static_cast<RosPublish&> (owner ());
 	std::vector<Value> values = getParameterValues ();
 
 	const std::string& type = values[0].value ();
@@ -103,7 +103,7 @@ namespace dynamicgraph
       }
 
       Rm::Rm
-      (RosImport& entity, const std::string& docstring)
+      (RosPublish& entity, const std::string& docstring)
 	: Command
 	  (entity,
 	   boost::assign::list_of (Value::STRING),
@@ -112,8 +112,8 @@ namespace dynamicgraph
 
       Value Rm::doExecute ()
       {
-	RosImport& entity =
-	  static_cast<RosImport&> (owner ());
+	RosPublish& entity =
+	  static_cast<RosPublish&> (owner ());
 	std::vector<Value> values = getParameterValues ();
 	const std::string& signal = values[0].value ();
 	entity.rm (signal);
@@ -122,17 +122,17 @@ namespace dynamicgraph
     } // end of errorEstimator.
   } // end of namespace command.
 
-  const std::string RosImport::docstring_
-  ("Import ROS topics as dynamic-graph signals.\n"
+  const std::string RosPublish::docstring_
+  ("Publish dynamic-graph signals as ROS topics.\n"
    "\n"
-   "  Use command \"add\" to import a new ROS topic.\n");
+   "  Use command \"add\" to publish a new ROS topic.\n");
 
-  RosImport::RosImport (const std::string& n)
+  RosPublish::RosPublish (const std::string& n)
     : dynamicgraph::Entity(n),
-      // rosImport do not use callback so do not create a useless spinner.
+      // RosPublish do not use callback so do not create a useless spinner.
       nh_ (rosInit (false)),
       bindedSignal_ (),
-      trigger_ (boost::bind (&RosImport::trigger, this, _1, _2),
+      trigger_ (boost::bind (&RosPublish::trigger, this, _1, _2),
 		sotNOSIGNAL,
 		MAKE_SIGNAL_STRING(name, true, "int", "trigger")),
       rate_ (ROS_JOINT_STATE_PUBLISHER_RATE),
@@ -159,7 +159,7 @@ namespace dynamicgraph
       "    - topic:  the topic name in ROS.\n"
       "\n";
     addCommand ("add",
-		new command::rosImport::Add
+		new command::rosPublish::Add
 		(*this, docstring));
     docstring =
       "\n"
@@ -169,7 +169,7 @@ namespace dynamicgraph
       "    - name of the signal to remove (see method list for the list of signals).\n"
       "\n";
     addCommand ("rm",
-		new command::rosImport::Rm
+		new command::rosPublish::Rm
 		(*this, docstring));
     docstring =
       "\n"
@@ -178,7 +178,7 @@ namespace dynamicgraph
       "  No input:\n"
       "\n";
     addCommand ("clear",
-		new command::rosImport::Clear
+		new command::rosPublish::Clear
 		(*this, docstring));
     docstring =
       "\n"
@@ -187,25 +187,25 @@ namespace dynamicgraph
       "  No input:\n"
       "\n";
     addCommand ("list",
-		new command::rosImport::List
+		new command::rosPublish::List
 		(*this, docstring));
   }
 
-  RosImport::~RosImport ()
+  RosPublish::~RosPublish ()
   {
   }
 
-  void RosImport::display (std::ostream& os) const
+  void RosPublish::display (std::ostream& os) const
   {
     os << CLASS_NAME << std::endl;
   }
 
-  void RosImport::rm (const std::string& signal)
+  void RosPublish::rm (const std::string& signal)
   {
     bindedSignal_.erase (signal);
   }
 
-  std::string RosImport::list () const
+  std::string RosPublish::list () const
   {
     std::string result("[");
     for (std::map<std::string, bindedSignal_t>::const_iterator it =
@@ -216,12 +216,12 @@ namespace dynamicgraph
     return result;
  }
 
-  void RosImport::clear ()
+  void RosPublish::clear ()
   {
     bindedSignal_.clear ();
   }
 
-  int& RosImport::trigger (int& dummy, int t)
+  int& RosPublish::trigger (int& dummy, int t)
   {
     typedef std::map<std::string, bindedSignal_t>::iterator iterator_t;
 
@@ -237,7 +237,7 @@ namespace dynamicgraph
     return dummy;
   }
 
-  std::string RosImport::getDocString () const
+  std::string RosPublish::getDocString () const
   {
     return docstring_;
   }

src/ros_import.hh → src/ros_publish.hh

-#ifndef DYNAMIC_GRAPH_ROS_IMPORT_HH
-# define DYNAMIC_GRAPH_ROS_IMPORT_HH
+#ifndef DYNAMIC_GRAPH_ROS_PUBLISH_HH
+# define DYNAMIC_GRAPH_ROS_PUBLISH_HH
 # include <iostream>
 # include <map>
 
@@ -19,37 +19,37 @@
 
 namespace dynamicgraph
 {
-  class RosImport;
+  class RosPublish;
 
   namespace command
   {
-    namespace rosImport
+    namespace rosPublish
     {
       using ::dynamicgraph::command::Command;
       using ::dynamicgraph::command::Value;
 
-# define ROS_IMPORT_MAKE_COMMAND(CMD)			\
+# define ROS_PUBLISH_MAKE_COMMAND(CMD)			\
       class CMD : public Command			\
       {							\
       public:						\
-	CMD (RosImport& entity,				\
+	CMD (RosPublish& entity,				\
 	     const std::string& docstring);		\
 	virtual Value doExecute ();			\
       }
 
-      ROS_IMPORT_MAKE_COMMAND(Add);
-      ROS_IMPORT_MAKE_COMMAND(Clear);
-      ROS_IMPORT_MAKE_COMMAND(List);
-      ROS_IMPORT_MAKE_COMMAND(Rm);
+      ROS_PUBLISH_MAKE_COMMAND(Add);
+      ROS_PUBLISH_MAKE_COMMAND(Clear);
+      ROS_PUBLISH_MAKE_COMMAND(List);
+      ROS_PUBLISH_MAKE_COMMAND(Rm);
 
-#undef ROS_IMPORT_MAKE_COMMAND
+#undef ROS_PUBLISH_MAKE_COMMAND
 
     } // end of namespace errorEstimator.
   } // end of namespace command.
 
 
   /// \brief Publish dynamic-graph information into ROS.
-  class RosImport : public dynamicgraph::Entity
+  class RosPublish : public dynamicgraph::Entity
   {
     DYNAMIC_GRAPH_ENTITY_DECL();
   public:
@@ -62,8 +62,8 @@ namespace dynamicgraph
 
     static const double ROS_JOINT_STATE_PUBLISHER_RATE = 1. / 100.;
 
-    RosImport (const std::string& n);
-    virtual ~RosImport ();
+    RosPublish (const std::string& n);
+    virtual ~RosPublish ();
 
     virtual std::string getDocString () const;
     void display (std::ostream& os) const;
@@ -97,5 +97,5 @@ namespace dynamicgraph
   };
 } // end of namespace dynamicgraph.
 
-# include "ros_import.hxx"
-#endif //! DYNAMIC_GRAPH_ROS_IMPORT_HH
+# include "ros_publish.hxx"
+#endif //! DYNAMIC_GRAPH_ROS_PUBLISH_HH

src/ros_import.hxx → src/ros_publish.hxx

-#ifndef DYNAMIC_GRAPH_ROS_IMPORT_HXX
-# define DYNAMIC_GRAPH_ROS_IMPORT_HXX
+#ifndef DYNAMIC_GRAPH_ROS_PUBLISH_HXX
+# define DYNAMIC_GRAPH_ROS_PUBLISH_HXX
 # include <vector>
 # include <std_msgs/Float64.h>
 
@@ -14,7 +14,7 @@ namespace dynamicgraph
 {
   template <>
   inline void
-  RosImport::sendData
+  RosPublish::sendData
   <std::pair<sot::MatrixHomogeneous, ml::Vector> >
   (boost::shared_ptr
    <realtime_tools::RealtimePublisher
@@ -38,7 +38,7 @@ namespace dynamicgraph
 
   template <typename T>
   void
-  RosImport::sendData
+  RosPublish::sendData
   (boost::shared_ptr
    <realtime_tools::RealtimePublisher
    <typename SotToRos<T>::ros_t> > publisher,
@@ -54,7 +54,7 @@ namespace dynamicgraph
   }
 
   template <typename T>
-  void RosImport::add (const std::string& signal, const std::string& topic)
+  void RosPublish::add (const std::string& signal, const std::string& topic)
   {
     typedef typename SotToRos<T>::sot_t sot_t;
     typedef typename SotToRos<T>::ros_t ros_t;
@@ -81,7 +81,7 @@ namespace dynamicgraph
 
     // Initialize the callback.
     callback_t callback = boost::bind
-      (&RosImport::sendData<T>,
+      (&RosPublish::sendData<T>,
        this,
        pubPtr,
        signalPtr,
@@ -93,4 +93,4 @@ namespace dynamicgraph
 
 } // end of namespace dynamicgraph.
 
-#endif //! DYNAMIC_GRAPH_ROS_IMPORT_HXX
+#endif //! DYNAMIC_GRAPH_ROS_PUBLISH_HXX

src/ros_export.cpp → src/ros_subscribe.cpp

@@ -11,18 +11,18 @@
 #include <dynamic-graph/factory.h>
 
 #include "dynamic_graph_bridge/ros_init.hh"
-#include "ros_export.hh"
+#include "ros_subscribe.hh"
 
 namespace dynamicgraph
 {
-  DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosExport, "RosExport");
+  DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosSubscribe, "RosSubscribe");
 
   namespace command
   {
-    namespace rosExport
+    namespace rosSubscribe
     {
       Clear::Clear
-      (RosExport& entity, const std::string& docstring)
+      (RosSubscribe& entity, const std::string& docstring)
 	: Command
 	  (entity,
 	   std::vector<Value::Type> (),
@@ -31,15 +31,15 @@ namespace dynamicgraph
 
       Value Clear::doExecute ()
       {
-	RosExport& entity =
-	  static_cast<RosExport&> (owner ());
+	RosSubscribe& entity =
+	  static_cast<RosSubscribe&> (owner ());
 
 	entity.clear ();
 	return Value ();
       }
 
       List::List
-      (RosExport& entity, const std::string& docstring)
+      (RosSubscribe& entity, const std::string& docstring)
 	: Command
 	  (entity,
 	   std::vector<Value::Type> (),
@@ -48,13 +48,13 @@ namespace dynamicgraph
 
       Value List::doExecute ()
       {
-	RosExport& entity =
-	  static_cast<RosExport&> (owner ());
+	RosSubscribe& entity =
+	  static_cast<RosSubscribe&> (owner ());
 	return Value (entity.list ());
       }
 
       Add::Add
-      (RosExport& entity, const std::string& docstring)
+      (RosSubscribe& entity, const std::string& docstring)
 	: Command
 	  (entity,
 	   boost::assign::list_of
@@ -64,8 +64,8 @@ namespace dynamicgraph
 
       Value Add::doExecute ()
       {
-	RosExport& entity =
-	  static_cast<RosExport&> (owner ());
+	RosSubscribe& entity =
+	  static_cast<RosSubscribe&> (owner ());
 	std::vector<Value> values = getParameterValues ();
 
 	const std::string& type = values[0].value ();
@@ -100,7 +100,7 @@ namespace dynamicgraph
       }
 
       Rm::Rm
-      (RosExport& entity, const std::string& docstring)
+      (RosSubscribe& entity, const std::string& docstring)
 	: Command
 	  (entity,
 	   boost::assign::list_of (Value::STRING),
@@ -109,8 +109,8 @@ namespace dynamicgraph
 
       Value Rm::doExecute ()
       {
-	RosExport& entity =
-	  static_cast<RosExport&> (owner ());
+	RosSubscribe& entity =
+	  static_cast<RosSubscribe&> (owner ());
 	std::vector<Value> values = getParameterValues ();
 	const std::string& signal = values[0].value ();
 	entity.rm (signal);
@@ -119,12 +119,12 @@ namespace dynamicgraph
     } // end of errorEstimator.
   } // end of namespace command.
 
-  const std::string RosExport::docstring_
-  ("Export dynamic-graph signals as ROS topics.\n"
+  const std::string RosSubscribe::docstring_
+  ("Subscribe to a ROS topics and convert it into a dynamic-graph signals.\n"
    "\n"
-   "  Use command \"add\" to export a new signal.\n");
+   "  Use command \"add\" to subscribe to a new signal.\n");
 
-  RosExport::RosExport (const std::string& n)
+  RosSubscribe::RosSubscribe (const std::string& n)
     : dynamicgraph::Entity(n),
       nh_ (rosInit (true)),
       bindedSignal_ ()
@@ -141,7 +141,7 @@ namespace dynamicgraph
       "    - topic:  the topic name in ROS.\n"
       "\n";
     addCommand ("add",
-		new command::rosExport::Add
+		new command::rosSubscribe::Add
 		(*this, docstring));
     docstring =
       "\n"
@@ -151,7 +151,7 @@ namespace dynamicgraph
       "    - name of the signal to remove (see method list for the list of signals).\n"
       "\n";
     addCommand ("rm",
-		new command::rosExport::Rm
+		new command::rosSubscribe::Rm
 		(*this, docstring));
     docstring =
       "\n"
@@ -160,7 +160,7 @@ namespace dynamicgraph
       "  No input:\n"
       "\n";
     addCommand ("clear",
-		new command::rosExport::Clear
+		new command::rosSubscribe::Clear
 		(*this, docstring));
     docstring =
       "\n"
@@ -169,24 +169,24 @@ namespace dynamicgraph
       "  No input:\n"
       "\n";
     addCommand ("list",
-		new command::rosExport::List
+		new command::rosSubscribe::List
 		(*this, docstring));
   }
 
-  RosExport::~RosExport ()
+  RosSubscribe::~RosSubscribe ()
   {}
 
-  void RosExport::display (std::ostream& os) const
+  void RosSubscribe::display (std::ostream& os) const
   {
     os << CLASS_NAME << std::endl;
   }
 
-  void RosExport::rm (const std::string& signal)
+  void RosSubscribe::rm (const std::string& signal)
   {
     bindedSignal_.erase (signal);
   }
 
-  std::string RosExport::list ()
+  std::string RosSubscribe::list ()
   {
     std::string result("[");
     for (std::map<std::string, bindedSignal_t>::const_iterator it =
@@ -197,12 +197,12 @@ namespace dynamicgraph
     return result;
   }
 
-  void RosExport::clear ()
+  void RosSubscribe::clear ()
   {
     bindedSignal_.clear ();
   }
 
-  std::string RosExport::getDocString () const
+  std::string RosSubscribe::getDocString () const
   {
     return docstring_;
   }

src/ros_export.hh → src/ros_subscribe.hh

-#ifndef DYNAMIC_GRAPH_ROS_EXPORT_HH
-# define DYNAMIC_GRAPH_ROS_EXPORT_HH
+#ifndef DYNAMIC_GRAPH_ROS_SUBSCRIBE_HH
+# define DYNAMIC_GRAPH_ROS_SUBSCRIBE_HH
 # include <iostream>
 # include <map>
 
@@ -18,30 +18,30 @@
 
 namespace dynamicgraph
 {
-  class RosExport;
+  class RosSubscribe;
 
   namespace command
   {
-    namespace rosExport
+    namespace rosSubscribe
     {
       using ::dynamicgraph::command::Command;
       using ::dynamicgraph::command::Value;
 
-# define ROS_EXPORT_MAKE_COMMAND(CMD)			\
+# define ROS_SUBSCRIBE_MAKE_COMMAND(CMD)			\
       class CMD : public Command			\
       {							\
       public:						\
-	CMD (RosExport& entity,				\
+	CMD (RosSubscribe& entity,				\
 	     const std::string& docstring);		\
 	virtual Value doExecute ();			\
       }
 
-      ROS_EXPORT_MAKE_COMMAND(Add);
-      ROS_EXPORT_MAKE_COMMAND(Clear);
-      ROS_EXPORT_MAKE_COMMAND(List);
-      ROS_EXPORT_MAKE_COMMAND(Rm);
+      ROS_SUBSCRIBE_MAKE_COMMAND(Add);
+      ROS_SUBSCRIBE_MAKE_COMMAND(Clear);
+      ROS_SUBSCRIBE_MAKE_COMMAND(List);
+      ROS_SUBSCRIBE_MAKE_COMMAND(Rm);
 
-#undef ROS_EXPORT_MAKE_COMMAND
+#undef ROS_SUBSCRIBE_MAKE_COMMAND
 
     } // end of namespace errorEstimator.
   } // end of namespace command.
@@ -54,7 +54,7 @@ namespace dynamicgraph
   } // end of internal namespace.
 
   /// \brief Publish ROS information in the dynamic-graph.
-  class RosExport : public dynamicgraph::Entity
+  class RosSubscribe : public dynamicgraph::Entity
   {
     DYNAMIC_GRAPH_ENTITY_DECL();
     typedef boost::posix_time::ptime ptime;
@@ -63,8 +63,8 @@ namespace dynamicgraph
 		      boost::shared_ptr<ros::Subscriber> >
       bindedSignal_t;
 
-    RosExport (const std::string& n);
-    virtual ~RosExport ();
+    RosSubscribe (const std::string& n);
+    virtual ~RosSubscribe ();
 
     virtual std::string getDocString () const;
     void display (std::ostream& os) const;
@@ -107,5 +107,5 @@ namespace dynamicgraph
   };
 } // end of namespace dynamicgraph.
 
-# include "ros_export.hxx"
-#endif //! DYNAMIC_GRAPH_ROS_EXPORT_HH
+# include "ros_subscribe.hxx"
+#endif //! DYNAMIC_GRAPH_ROS_SUBSCRIBE_HH

src/ros_export.hxx → src/ros_subscribe.hxx

-#ifndef DYNAMIC_GRAPH_ROS_EXPORT_HXX
-# define DYNAMIC_GRAPH_ROS_EXPORT_HXX
+#ifndef DYNAMIC_GRAPH_ROS_SUBSCRIBE_HXX
+# define DYNAMIC_GRAPH_ROS_SUBSCRIBE_HXX
 # include <vector>
 # include <boost/bind.hpp>
 # include <boost/date_time/posix_time/posix_time.hpp>
@@ -17,7 +17,7 @@ namespace dynamicgraph
 {
   template <typename R, typename S>
   void
-  RosExport::callback
+  RosSubscribe::callback
   (boost::shared_ptr<dynamicgraph::SignalPtr<S, int> > signal,
    const R& data)
   {
@@ -29,7 +29,7 @@ namespace dynamicgraph
 
   template <typename R>
   void
-  RosExport::callbackTimestamp
+  RosSubscribe::callbackTimestamp
   (boost::shared_ptr<dynamicgraph::SignalPtr<ptime, int> > signal,
    const R& data)
   {
@@ -43,7 +43,7 @@ namespace dynamicgraph
     template <typename T>
     struct Add
     {
-      void operator () (RosExport& rosExport,
+      void operator () (RosSubscribe& RosSubscribe,
 			const std::string& signal,
 			const std::string& topic)
       {
@@ -52,36 +52,36 @@ namespace dynamicgraph
 	typedef typename SotToRos<T>::signalIn_t signal_t;
 
 	// Initialize the bindedSignal object.
-	RosExport::bindedSignal_t bindedSignal;
+	RosSubscribe::bindedSignal_t bindedSignal;
 
 	// Initialize the signal.
-	boost::format signalName ("RosExport(%1%)::%2%");
-	signalName % rosExport.getName () % signal;
+	boost::format signalName ("RosSubscribe(%1%)::%2%");
+	signalName % RosSubscribe.getName () % signal;
 
 	boost::shared_ptr<signal_t> signal_
 	  (new signal_t (0, signalName.str ()));
 	SotToRos<T>::setDefault(*signal_);
 	bindedSignal.first = signal_;
-	rosExport.signalRegistration (*bindedSignal.first);
+	RosSubscribe.signalRegistration (*bindedSignal.first);
 
 	// Initialize the subscriber.
 	typedef boost::function<void (const ros_const_ptr_t& data)> callback_t;
 	callback_t callback = boost::bind
-	  (&RosExport::callback<ros_const_ptr_t, sot_t>,
-	   &rosExport, signal_, _1);
+	  (&RosSubscribe::callback<ros_const_ptr_t, sot_t>,
+	   &RosSubscribe, signal_, _1);
 
 	bindedSignal.second =
 	  boost::make_shared<ros::Subscriber>
-	  (rosExport.nh ().subscribe (topic, 1, callback));
+	  (RosSubscribe.nh ().subscribe (topic, 1, callback));
 
-	rosExport.bindedSignal ()[signal] = bindedSignal;
+	RosSubscribe.bindedSignal ()[signal] = bindedSignal;
       }
     };
 
     template <typename T>
     struct Add<std::pair<T, ml::Vector> >
     {
-      void operator () (RosExport& rosExport,
+      void operator () (RosSubscribe& RosSubscribe,
 			const std::string& signal,
 			const std::string& topic)
       {
@@ -92,72 +92,72 @@ namespace dynamicgraph
 	typedef typename SotToRos<type_t>::signalIn_t signal_t;
 
 	// Initialize the bindedSignal object.
-	RosExport::bindedSignal_t bindedSignal;
+	RosSubscribe::bindedSignal_t bindedSignal;
 
 	// Initialize the signal.
-	boost::format signalName ("RosExport(%1%)::%2%");
-	signalName % rosExport.getName () % signal;
+	boost::format signalName ("RosSubscribe(%1%)::%2%");
+	signalName % RosSubscribe.getName () % signal;
 
 	boost::shared_ptr<signal_t> signal_
 	  (new signal_t (0, signalName.str ()));
 	SotToRos<T>::setDefault(*signal_);
 	bindedSignal.first = signal_;
-	rosExport.signalRegistration (*bindedSignal.first);
+	RosSubscribe.signalRegistration (*bindedSignal.first);
 
 	// Initialize the publisher.
 	typedef boost::function<void (const ros_const_ptr_t& data)> callback_t;
 	callback_t callback = boost::bind
-	  (&RosExport::callback<ros_const_ptr_t, sot_t>,
-	   &rosExport, signal_, _1);
+	  (&RosSubscribe::callback<ros_const_ptr_t, sot_t>,
+	   &RosSubscribe, signal_, _1);
 
 	bindedSignal.second =
 	  boost::make_shared<ros::Subscriber>
-	  (rosExport.nh ().subscribe (topic, 1, callback));
+	  (RosSubscribe.nh ().subscribe (topic, 1, callback));
 
-	rosExport.bindedSignal ()[signal] = bindedSignal;
+	RosSubscribe.bindedSignal ()[signal] = bindedSignal;
 
 
 	// Timestamp.
-	typedef dynamicgraph::SignalPtr<RosExport::ptime, int>
+	typedef dynamicgraph::SignalPtr<RosSubscribe::ptime, int>
 	  signalTimestamp_t;
 	std::string signalTimestamp =
 	  (boost::format ("%1%%2%") % signal % "Timestamp").str ();
 
 	// Initialize the bindedSignal object.
-	RosExport::bindedSignal_t bindedSignalTimestamp;
+	RosSubscribe::bindedSignal_t bindedSignalTimestamp;
 
 	// Initialize the signal.
-	boost::format signalNameTimestamp ("RosExport(%1%)::%2%");
-	signalNameTimestamp % rosExport.name % signalTimestamp;
+	boost::format signalNameTimestamp ("RosSubscribe(%1%)::%2%");
+	signalNameTimestamp % RosSubscribe.name % signalTimestamp;
 
 	boost::shared_ptr<signalTimestamp_t> signalTimestamp_
 	  (new signalTimestamp_t (0, signalNameTimestamp.str ()));
 
-	RosExport::ptime zero (rosTimeToPtime (ros::Time (0, 0)));
+	RosSubscribe::ptime zero (rosTimeToPtime (ros::Time (0, 0)));
 	signalTimestamp_->setConstant (zero);
 	bindedSignalTimestamp.first = signalTimestamp_;
-	rosExport.signalRegistration (*bindedSignalTimestamp.first);
+	RosSubscribe.signalRegistration (*bindedSignalTimestamp.first);
 
 	// Initialize the publisher.
 	typedef boost::function<void (const ros_const_ptr_t& data)> callback_t;
 	callback_t callbackTimestamp = boost::bind
-	  (&RosExport::callbackTimestamp<ros_const_ptr_t>,
-	   &rosExport, signalTimestamp_, _1);
+	  (&RosSubscribe::callbackTimestamp<ros_const_ptr_t>,
+	   &RosSubscribe, signalTimestamp_, _1);
 
 	bindedSignalTimestamp.second =
 	  boost::make_shared<ros::Subscriber>
-	  (rosExport.nh ().subscribe (topic, 1, callbackTimestamp));
+	  (RosSubscribe.nh ().subscribe (topic, 1, callbackTimestamp));
 
-	rosExport.bindedSignal ()[signalTimestamp] = bindedSignalTimestamp;
+	RosSubscribe.bindedSignal ()[signalTimestamp] = bindedSignalTimestamp;
       }
     };
   } // end of namespace internal.
 
   template <typename T>
-  void RosExport::add (const std::string& signal, const std::string& topic)
+  void RosSubscribe::add (const std::string& signal, const std::string& topic)
   {
     internal::Add<T> () (*this, signal, topic);
   }
 } // end of namespace dynamicgraph.
 
-#endif //! DYNAMIC_GRAPH_ROS_EXPORT_HXX
+#endif //! DYNAMIC_GRAPH_ROS_SUBSCRIBE_HXX