00001
00030 #include <rtt/RTT.hpp>
00031 #include <rtt/plugin/ServicePlugin.hpp>
00032
00033 #include <ros/package.h>
00034
00035 using namespace RTT;
00036 using namespace std;
00037
00041 class RosPackService : public RTT::Service {
00042 public:
00043 RosPackService(TaskContext* owner)
00044 : Service("rospack", owner)
00045 {
00046 this->addOperation("find", &ros::package::getPath).doc("Returns the fully-qualified path to a package, or an empty string if the package is not found");
00047 }
00048 };
00049
00050
00051
00052
00053 ORO_SERVICE_NAMED_PLUGIN(RosPackService, "rospack")