text: /*********************************************************************
  *
  * Software License Agreement ()
  *
  *  Copyright (c) 2018, Bzrobot, Inc.
  *  All rights reserved.
  *
  * Author: Feng Guo
  *********************************************************************/
  #pragma once
  #include "server_core_defines.h"
  #include "utils/singleton_wrapper.h"
  
  #include <ros/ros.h>
  #include <std_msgs/UInt8.h>
  #include <bzrobot_msgs/bzr_NaviStatusResponse.h>
  
  #define SERVER_PARAM_INTERFACE_PTR (SingletonWrapper<bzrobot::server::RosParamInterface>::GetInstance())
  
  namespace bzrobot {
  namespace server {
  class RosParamInterface {
  public:
    void Run();
  
    void PublishTaskLog(bzrobot_msgs::bzr_NaviStatusResponse _in log);
    void PublishEventLog(bzrobot_msgs::bzr_NaviStatusResponse _in log);
    void PublishTaskState(std_msgs::UInt8 _in state);
  
  private:
    RosParamInterface();
  
  private:
    ros::NodeHandle node_;
    ros::Publisher  task_log_pub_;
    ros::Publisher  event_log_pub_;
    ros::Publisher  task_state_pub_;
  
    DECLARE_SINGLETON(RosParamInterface)
  };
  }
  }
  