00001 /* 00002 * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin 00003 * License: Modified BSD Software License Agreement 00004 * 00005 * $Id$ 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);