00001 00007 /* 00008 * Copyright (c) 2012, Marcus Liebhardt, Yujin Robot 00009 * All rights reserved. 00010 * 00011 * Redistribution and use in source and binary forms, with or without 00012 * modification, are permitted provided that the following conditions are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above copyright 00017 * notice, this list of conditions and the following disclaimer in the 00018 * documentation and/or other materials provided with the distribution. 00019 * * Neither the name of Yujin Robot nor the names of its 00020 * contributors may be used to endorse or promote products derived from 00021 * this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00024 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00025 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00026 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00027 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00028 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00029 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00030 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00031 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00032 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 */ 00035 00036 00037 #include <ros/ros.h> 00038 #include <octomap_server/OctomapServer.h> 00039 #include <pluginlib/class_list_macros.h> 00040 #include <nodelet/nodelet.h> 00041 00042 00043 namespace octomap_server 00044 { 00045 00046 class OctomapServerNodelet : public nodelet::Nodelet 00047 { 00048 public: 00049 virtual void onInit() 00050 { 00051 NODELET_DEBUG("Initializing octomap server nodelet ..."); 00052 server_.reset(new OctomapServer(this->getPrivateNodeHandle())); 00053 } 00054 private: 00055 boost::shared_ptr<OctomapServer> server_; 00056 }; 00057 00058 } // namespace 00059 00060 PLUGINLIB_DECLARE_CLASS(octomap_server, OctomapServerNodelet, octomap_server::OctomapServerNodelet, nodelet::Nodelet);