ranges_nodelet.cpp

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#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>

#include "ranges_to_cloud.h"

namespace segbot_sensors
{
  class RangesNodelet: public nodelet::Nodelet
  {
  public:
    RangesNodelet() {}
    ~RangesNodelet() {}

  private:
    boost::shared_ptr<segbot_sensors::RangesToCloud> cnv_;

    virtual void onInit()
    {
      ros::NodeHandle priv_nh(getPrivateNodeHandle());
      ros::NodeHandle node(getNodeHandle());
      cnv_.reset(new segbot_sensors::RangesToCloud(node, priv_nh));
    }

  };
}; // end namespace segbot_sensors

// Register this plugin with pluginlib.  Names must match
// segbot_sensors_plugins.xml.
//
// parameters are: package, class name, class type, base class type
PLUGINLIB_DECLARE_CLASS(segbot_sensors, RangesNodelet,
                        segbot_sensors::RangesNodelet, nodelet::Nodelet);