nodelet.cpp
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00001 /*
00002  * Copyright (c) 2012, Yujin Robot.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Yujin Robot nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00038 /*****************************************************************************
00039 ** Includes
00040 *****************************************************************************/
00041 // %Tag(FULLTEXT)%
00042 #include <nodelet/nodelet.h>
00043 #include <pluginlib/class_list_macros.h>
00044 #include "kobuki_controller_tutorial/bump_blink_controller.hpp"
00045 
00046 
00047 namespace kobuki
00048 {
00049 
00053 class BumpBlinkControllerNodelet : public nodelet::Nodelet
00054 {
00055 public:
00056   BumpBlinkControllerNodelet(){};
00057   ~BumpBlinkControllerNodelet(){}
00058 
00064   virtual void onInit()
00065   {
00066     ros::NodeHandle nh = this->getPrivateNodeHandle();
00067 
00068     // resolve node(let) name
00069     std::string name = nh.getUnresolvedNamespace();
00070     int pos = name.find_last_of('/');
00071     name = name.substr(pos + 1);
00072 
00073     NODELET_INFO_STREAM("Initialising nodelet... [" << name << "]");
00074     controller_.reset(new BumpBlinkController(nh, name));
00075 
00076     // Initialises the controller
00077     if (controller_->init())
00078     {
00079       NODELET_INFO_STREAM("Nodelet initialised. [" << name << "]");
00080     }
00081     else
00082     {
00083       NODELET_ERROR_STREAM("Couldn't initialise nodelet! Please restart. [" << name << "]");
00084     }
00085   }
00086 private:
00087   boost::shared_ptr<BumpBlinkController> controller_;
00088 };
00089 
00090 } // namespace kobuki
00091 
00092 PLUGINLIB_EXPORT_CLASS(kobuki::BumpBlinkControllerNodelet,
00093                        nodelet::Nodelet);
00094 // %EndTag(FULLTEXT)%


kobuki_controller_tutorial
Author(s): Marcus Liebhardt
autogenerated on Mon Oct 6 2014 01:32:03