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 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
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#ifndef SENSOR_MODULE_TUTORIAL_SENSOR_MODULE_TUTORIAL_H_
#define SENSOR_MODULE_TUTORIAL_SENSOR_MODULE_TUTORIAL_H_

#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <std_msgs/Int16.h>
#include <boost/thread.hpp>

#include "robotis_framework_common/sensor_module.h"

namespace ROBOTIS
{

class SensorModuleTutorial
  : public robotis_framework::SensorModule,
    public robotis_framework::Singleton<SensorModuleTutorial>
{
private:
  int           control_cycle_msec_;
  boost::thread queue_thread_;

  /* sample subscriber & publisher */
  ros::Subscriber sub1_;
  ros::Publisher  pub1_;

  void queueThread();

public:
  SensorModuleTutorial();
  virtual ~SensorModuleTutorial();

  /* ROS Topic Callback Functions */
  void topicCallback(const std_msgs::Int16::ConstPtr &msg);

  void initialize(const int control_cycle_msec, robotis_framework::Robot *robot);
  void process(std::map<std::string, robotis_framework::Dynamixel *> dxls,
               std::map<std::string, robotis_framework::Sensor *> sensors);
};

}

#endif /* SENSOR_MODULE_TUTORIAL_SENSOR_MODULE_TUTORIAL_H_ */