velodyne_pointcloud: velodyne_pointcloud: cloud

00001 /*
00002  *  Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
00003  *  License: Modified BSD Software License Agreement
00004  *
00005  *  $Id: cloud_nodelet.cc 2034 2012-02-21 22:36:41Z jack.oquin $
00006  */
00007 
00015 #include <ros/ros.h>
00016 #include <pluginlib/class_list_macros.h>
00017 #include <nodelet/nodelet.h>
00018 
00019 #include "convert.h"
00020 
00021 namespace velodyne_pointcloud
00022 {
00023   class CloudNodelet: public nodelet::Nodelet
00024   {
00025   public:
00026 
00027     CloudNodelet() {}
00028     ~CloudNodelet() {}
00029 
00030   private:
00031 
00032     virtual void onInit();
00033     boost::shared_ptr<Convert> conv_;
00034   };
00035 
00037   void CloudNodelet::onInit()
00038   {
00039     conv_.reset(new Convert(getNodeHandle(), getPrivateNodeHandle()));
00040   }
00041 
00042 } // namespace velodyne_pointcloud
00043 
00044 
00045 // Register this plugin with pluginlib.  Names must match nodelet_velodyne.xml.
00046 //
00047 // parameters: package, class name, class type, base class type
00048 PLUGINLIB_DECLARE_CLASS(velodyne_pointcloud, CloudNodelet,
00049                         velodyne_pointcloud::CloudNodelet, nodelet::Nodelet);