qnode.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/

#include <ros/ros.h>
#include <ros/network.h>
#include <string>
#include "qnode.hpp"
#include <std_msgs/String.h>
#include <sstream>

/*****************************************************************************
** Implementation
*****************************************************************************/

QNode::QNode(int argc, char** argv, const std::string &name ) :
        init_argc(argc),
        init_argv(argv),
        node_name(name)
        {}

QNode::~QNode() {
        shutdown();
}
void QNode::shutdown() {
    if(ros::isStarted()) {
      ros::shutdown(); // explicitly needed since we use ros::start();
      ros::waitForShutdown();
    }
        wait();
}

bool QNode::on_init() {
        ros::init(init_argc,init_argv,node_name);
        if ( ! ros::master::check() ) {
                return false;
        }
        ros::start(); // our node handles go out of scope, so we want to control shutdown explicitly.
        ros_comms_init();
        start();
        return true;
}

bool QNode::on_init(const std::string &master_url, const std::string &host_url) {
        std::map<std::string,std::string> remappings;
        remappings["__master"] = master_url;
        remappings["__hostname"] = host_url;
        ros::init(remappings,node_name);
        if ( ! ros::master::check() ) {
                return false;
        }
        ros::start(); // our node handles go out of scope, so we want to control shutdown explicitly.
        ros_comms_init();
        start();
        return true;
}