00001 #include "mav_odom_interface/odom_interface_nodelet.h" 00002 00003 typedef mav::OdomInterfaceNodelet OdomInterfaceNodelet ; 00004 00005 PLUGINLIB_DECLARE_CLASS (mav_odom_interface, OdomInterfaceNodelet , 00006 OdomInterfaceNodelet , nodelet::Nodelet); 00007 00008 void OdomInterfaceNodelet ::onInit() 00009 { 00010 NODELET_INFO("Initializing OdomInterface Nodelet"); 00011 00012 // TODO: Do we want the single threaded or multithreaded NH? 00013 ros::NodeHandle nh = getMTNodeHandle(); 00014 ros::NodeHandle nh_private = getMTPrivateNodeHandle(); 00015 00016 odom_interface_ = new OdomInterface(nh, nh_private); 00017 }