How to handle disconnection/reconnection to the ROS master

edit

Wrapping the ros::init() and NodeHandle creation seems to work. In a bigger project where I have passed the ROS nodeHandle around and attached publishers and things to it I can't get it to work yet.

main.c

#include "ros/ros.h"

#include "std_msgs/String.h"

#include "rosConnection.H"

#include <sstream>
#include <iostream>
using namespace std;

int main(int argc, char **argv)
{
    int count = 0;
    bool reconnect = false;

    do
    {
        rosConnectionHandler_t rc (argc, argv);

        ros::Publisher chatter_pub = rc.nodeHandle ()->advertise<std_msgs::String>("chatter", 1000);

        ros::Rate loop_rate(10);

        while (ros::ok() && ros::master::check())
        {
            std_msgs::String msg;

            stringstream ss;
            ss << "hello world " << count;
            msg.data = ss.str();
            cout << msg.data << endl;

            chatter_pub.publish(msg);
            ros::spinOnce();
            loop_rate.sleep();
            ++count;
        }

        cout << "ROS OK: " << (ros::ok()?"true":"false") << endl;
        cout << "MASTER UP: " << (ros::master::check()?"true":"false") << endl;

        reconnect = !ros::master::check() && ros::ok();

        if (reconnect)
            cout << "Attempting to reconnect" << endl;

    } while (reconnect);

    return 0;
}

rosConnection.H

#pragma once

#include <ros/ros.h>

class rosConnectionHandler_t
{
    public:
        rosConnectionHandler_t (int argc_, char** argv_)
        {
            ros::init (argc_, argv_, "testnode");

            nh = new ros::NodeHandle();
        }

        ~rosConnectionHandler_t ()
        {
            delete nh;
        }

        ros::NodeHandle *nodeHandle() { return nh; };

    private:
        ros::NodeHandle *nh;
};