text: /*******************************************************************
   * Copyright (c) 2012 Daiki Maekawa
   *
   * @file CommandSenderServer.h
   * @brief server for command sender
   * @author Daiki Maekawa
   * @date 2012-12-01
   *******************************************************************/
  
  #pragma once
  
  #include <std_msgs/String.h>
  #include "CommandSenderClient.h"
  #include "SerialCommunication.h"
  
  namespace spp{
  
      class CommandSenderServer{
          SerialCommunication m_port;
          ros::NodeHandle &m_node;
          ros::Subscriber m_cmdSub;
          void commandReceiveCb(const std_msgs::StringConstPtr &msg);
  
      public:
          CommandSenderServer(ros::NodeHandle &node);
          void runServer();
      
      };
  
  } //namespace spp
  
  