/opt/ros/diamondback/stacks/kinect/kinect_camera/src/kinect_driver_nodelets.cpp
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010 00005 * Radu Bogdan Rusu <rusu@willowgarage.com> 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 00037 #include <pluginlib/class_list_macros.h> 00038 #include "kinect_camera/kinect_nodelets.h" 00039 00040 typedef kinect_camera::KinectDriverNodelet KinectDriverNodelet; 00041 00042 PLUGINLIB_DECLARE_CLASS (kinect_camera, KinectDriverNodelet, KinectDriverNodelet, nodelet::Nodelet); 00043 00044 void 00045 kinect_camera::KinectDriverNodelet::onInit () 00046 { 00048 ros::NodeHandle comm_nh( getMTNodeHandle().resolveName("camera") ); // for topics, services 00049 ros::NodeHandle param_nh = getMTPrivateNodeHandle (); // for parameters 00050 k = new KinectDriver (comm_nh, param_nh); 00051 00052 int device_id; 00053 param_nh.param ("device_id", device_id, 0); 00054 00055 if (!k->init (device_id)) 00056 return; 00057 k->start (); 00058 00059 ros::Duration r (0.0001); 00060 while (ros::ok () && k->ok ()) 00061 { 00062 ros::spinOnce (); 00063 r.sleep (); 00064 } 00065 }