bta_ros_nodelet.cpp
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00001 /******************************************************************************
00002  * Copyright (c) 2014
00003  * VoXel Interaction Design GmbH
00004  *
00005  * @author Angel Merino Sastre
00006  *
00007  * Permission is hereby granted, free of charge, to any person obtaining a copy
00008  * of this software and associated documentation files (the "Software"), to deal
00009  * in the Software without restriction, including without limitation the rights
00010  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00011  * copies of the Software, and to permit persons to whom the Software is
00012  * furnished to do so, subject to the following conditions:
00013  *
00014  * The above copyright notice and this permission notice shall be included in
00015  * all copies or substantial portions of the Software.
00016  *
00017  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00018  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00019  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00020  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00021  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00022  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00023  * THE SOFTWARE.
00024  *
00025  ******************************************************************************/
00026 
00043 #include <bta_ros/bta_ros.hpp>
00044 #include <nodelet/nodelet.h>
00045 
00046 namespace bta_ros {
00047 
00048 class BtaRosNodelet : public nodelet::Nodelet {
00049 
00050 public:
00051          BtaRosNodelet() : 
00052                 nodelet::Nodelet(),
00053                 lp_(NULL),
00054                 stream_thread_(NULL)
00055          {
00056          };
00057          
00058         virtual ~BtaRosNodelet() 
00059         {
00060                 stream_thread_->join();
00061         };
00062         
00063 private:
00064         virtual void onInit() 
00065         {
00066                 NODELET_WARN_STREAM("Initializing nodelet..." << getName());
00067                 
00068                 lp_.reset(new bta_ros::BtaRos(getNodeHandle(), getPrivateNodeHandle(), getName()));
00069                 stream_thread_.reset(new boost::thread(boost::bind(&BtaRos::initialize, lp_.get())));
00070         };
00071                 boost::scoped_ptr<bta_ros::BtaRos> lp_;
00072                 boost::scoped_ptr<boost::thread> stream_thread_;
00073         };
00074         
00075 }
00076 #include <pluginlib/class_list_macros.h>
00077 PLUGINLIB_EXPORT_CLASS(bta_ros::BtaRosNodelet, nodelet::Nodelet);
00078 
00079 


bta_ros
Author(s): Angel Merino , Simon Vogl
autogenerated on Wed Sep 16 2015 10:07:06