// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_DIAGNOSTIC_NODELET_
#define JSK_PCL_ROS_DIAGNOSTIC_NODELET_

#include <pcl_ros/pcl_nodelet.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <jsk_topic_tools/vital_checker.h>
#include "jsk_pcl_ros/pcl_util.h"
#include "jsk_pcl_ros/connection_based_nodelet.h"

namespace jsk_pcl_ros
{
  class DiagnosticNodelet: public ConnectionBasedNodelet
  {
  public:
    typedef boost::shared_ptr<DiagnosticNodelet> Ptr;
    DiagnosticNodelet(const std::string& name);

  protected:
    virtual void onInit();
    virtual void updateDiagnosticRoot(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper &stat) = 0;

    const std::string name_;
    TimeredDiagnosticUpdater::Ptr diagnostic_updater_;
    jsk_topic_tools::VitalChecker::Ptr vital_checker_;

  private:
    
  };
}

#endif
