Add export node.

CMakeLists.txt

 cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
+include(FindPkgConfig)
+
 # Set the build type.  Options are:
 #  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
 #  Debug          : w/ debug symbols, w/o optimization
@@ -29,7 +31,17 @@ rosbuild_genmsg()
 #rosbuild_add_executable(example examples/example.cpp)
 #target_link_libraries(example ${PROJECT_NAME})
 
+pkg_check_modules(JRL_MAL REQUIRED jrl-mal)
+pkg_check_modules(DYNAMIC_GRAPH REQUIRED dynamic-graph)
+
 rosbuild_add_library(ros_import src/ros_import.cpp)
-target_link_libraries(ros_import dynamic-graph)
+rosbuild_add_compile_flags(ros_import ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS})
+rosbuild_add_link_flags(ros_import ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS})
+target_link_libraries(ros_import
+  ${JRL_MAL_LIBRARIES} ${DYNAMIC_GRAPH_LIBRARIES})
 
-# rosbuild_add_library(sot_to_ros src/sot_to_ros.cpp)
+rosbuild_add_library(ros_export src/ros_export.cpp)
+rosbuild_add_compile_flags(ros_export ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS})
+rosbuild_add_link_flags(ros_export ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS})
+target_link_libraries(ros_export
+  ${JRL_MAL_LIBRARIES} ${DYNAMIC_GRAPH_LIBRARIES})

src/ros_export.cpp

+#include <boost/bind.hpp>
+#include <boost/format.hpp>
+#include <boost/function.hpp>
+#include <boost/make_shared.hpp>
+
+#include <ros/ros.h>
+#include <std_msgs/Float64.h>
+
+#include <dynamic-graph/factory.h>
+
+#include "ros_export.hh"
+
+namespace dynamicgraph
+{
+  DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosExport, "RosExport");
+
+  const char* rosInit()
+  {
+    int argc = 1;
+    char* arg0 = strdup("ros_export");
+    char* argv[] = {arg0, 0};
+    ros::init(argc, argv, "ros_export");
+    free (arg0);
+    return "dynamic_graph";
+  }
+
+  RosExport::RosExport (const std::string& n)
+    : dynamicgraph::Entity(n),
+      nh_ (rosInit ()),
+      bindedSignal_ ()
+  {
+  }
+
+  RosExport::~RosExport ()
+  {
+  }
+
+  void RosExport::display (std::ostream& os) const
+  {
+    os << CLASS_NAME << std::endl;
+  }
+
+  void RosExport::commandLine (const std::string& cmdLine,
+			       std::istringstream& cmdArgs,
+			       std::ostream& os)
+  {
+    std::string type;
+    std::string signal;
+    std::string topic;
+
+    if (cmdLine == "help")
+      {
+	os << "RosExport: "<< std::endl
+	   << "  - add <TYPE> <SIGNAL> <TOPIC>" << std::endl
+	   << "  - rm <SIGNAL>" << std::endl
+	   << "  - clear" << std::endl
+	   << "  - list" << std::endl;
+	Entity::commandLine (cmdLine, cmdArgs, os);
+      }
+    else if (cmdLine == "add")
+      {
+	cmdArgs >> type >> signal >> topic;
+	if (type == "double")
+	  ;
+	else if (type == "matrix")
+	  ;
+	else if (type == "vector")
+	  ;
+	else
+	  throw "bad type";
+      }
+    else if (cmdLine == "rm")
+      {
+	cmdArgs >> signal;
+	rm (signal);
+      }
+    else if (cmdLine == "clear")
+      clear ();
+    else if (cmdLine == "list")
+      list ();
+    else
+      Entity::commandLine (cmdLine, cmdArgs, os);
+  }
+
+  const std::string& RosExport::getClassName ()
+  {
+    return CLASS_NAME;
+  }
+
+  void RosExport::rm (const std::string& signal)
+  {
+    bindedSignal_.erase (signal);
+  }
+
+  void RosExport::list ()
+  {
+    std::cout << CLASS_NAME << std::endl;
+  }
+
+  void RosExport::clear ()
+  {
+    bindedSignal_.clear ();
+  }
+
+} // end of namespace dynamicgraph.

src/ros_export.hh

+#ifndef DYNAMIC_GRAPH_ROS_EXPORT_HH
+# define DYNAMIC_GRAPH_ROS_EXPORT_HH
+# include <iostream>
+# include <map>
+
+# include <boost/shared_ptr.hpp>
+
+# include <dynamic-graph/entity.h>
+# include <dynamic-graph/signal-time-dependent.h>
+
+# include <ros/ros.h>
+
+namespace dynamicgraph
+{
+  class RosExport : public dynamicgraph::Entity
+  {
+  public:
+    typedef std::pair<boost::shared_ptr<dynamicgraph::SignalBase<int> >,
+		      boost::shared_ptr<ros::Publisher> >
+      bindedSignal_t;
+
+    static const std::string CLASS_NAME;
+
+    RosExport (const std::string& n);
+    virtual ~RosExport ();
+
+    void display (std::ostream& os) const;
+    virtual void
+    commandLine (const std::string& cmdLine,
+		 std::istringstream& cmdArgs,
+		 std::ostream& os);
+
+
+    virtual const std::string& getClassName ();
+
+  private:
+    void add (const std::string& signal, const std::string& topic);
+    void rm (const std::string& signal);
+    void list ();
+    void clear ();
+
+    ros::NodeHandle nh_;
+    std::map<std::string, bindedSignal_t> bindedSignal_;
+  };
+} // end of namespace dynamicgraph.
+
+# include "ros_export.hxx"
+#endif //! DYNAMIC_GRAPH_ROS_EXPORT_HH

src/ros_export.hxx

+#ifndef DYNAMIC_GRAPH_ROS_EXPORT_HXX
+# define DYNAMIC_GRAPH_ROS_EXPORT_HXX
+# include <vector>
+# include <jrl/mal/boost.hh>
+# include <std_msgs/Float64.h>
+# include "dynamic_graph/Matrix.h"
+# include "dynamic_graph/Vector.h"
+
+
+namespace ml = maal::boost;
+
+namespace dynamicgraph
+{
+} // end of namespace dynamicgraph.
+
+#endif //! DYNAMIC_GRAPH_ROS_EXPORT_HXX