Refactored Listener and Talker to work with new NodeRunner

The NodeMain's main method doesn't get an NodeConfiguration anymore but a Node
instance.

rosjava_tutorial_pubsub/src/main/java/org/ros/tutorials/pubsub/Listener.java

@@ -18,12 +18,12 @@ package org.ros.tutorials.pubsub;
 
 import org.apache.commons.logging.Log;
 import org.ros.message.MessageListener;
-import org.ros.node.DefaultNodeFactory;
 import org.ros.node.Node;
-import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMain;
 import org.ros.node.topic.Subscriber;
 
+import com.google.common.base.Preconditions;
+
 /**
  * This is a simple rosjava {@link Subscriber} {@link Node}. It assumes an
  * external roscore is already running.
@@ -35,9 +35,10 @@ public class Listener implements NodeMain {
   private Node node;
 
   @Override
-  public void main(NodeConfiguration configuration) {
+  public void main(Node node) {
+    Preconditions.checkState(this.node == null);
+    this.node = node;
     try {
-      node = new DefaultNodeFactory().newNode("listener", configuration);
       final Log log = node.getLog();
       node.newSubscriber("chatter", "std_msgs/String",
           new MessageListener<org.ros.message.std_msgs.String>() {
@@ -58,6 +59,7 @@ public class Listener implements NodeMain {
   @Override
   public void shutdown() {
     node.shutdown();
+    node = null;
   }
 
 }

rosjava_tutorial_pubsub/src/main/java/org/ros/tutorials/pubsub/Talker.java

@@ -16,14 +16,12 @@
 
 package org.ros.tutorials.pubsub;
 
-import com.google.common.base.Preconditions;
-
-import org.ros.node.DefaultNodeFactory;
 import org.ros.node.Node;
-import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMain;
 import org.ros.node.topic.Publisher;
 
+import com.google.common.base.Preconditions;
+
 /**
  * This is a simple rosjava {@link Publisher} {@link Node}. It assumes an
  * external roscore is already running.
@@ -36,11 +34,10 @@ public class Talker implements NodeMain {
   private Node node;
 
   @Override
-  public void main(NodeConfiguration configuration) {
-    Preconditions.checkState(node == null);
-    Preconditions.checkNotNull(configuration);
+  public void main(Node node) {
+    Preconditions.checkState(this.node == null);
+    this.node = node;
     try {
-      node = new DefaultNodeFactory().newNode("talker", configuration);
       Publisher<org.ros.message.std_msgs.String> publisher =
           node.newPublisher("chatter", "std_msgs/String");
       int seq = 0;