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 */ 00035 /***************************************************************************** 00036 ** Includes 00037 *****************************************************************************/ 00038 00039 #include <nodelet/nodelet.h> 00040 #include <pluginlib/class_list_macros.h> 00041 #include <boost/thread.hpp> 00042 00043 #include "kobuki_softnode/fake_kobuki_ros.h" 00044 00045 00046 namespace kobuki 00047 { 00048 00049 class SoftKobukiNodelet : public nodelet::Nodelet 00050 { 00051 public: 00052 SoftKobukiNodelet(){}; 00053 ~SoftKobukiNodelet() 00054 { 00055 NODELET_DEBUG_STREAM("Kobuki : waiting for update thread to finish."); 00056 update_thread_.join(); 00057 } 00058 virtual void onInit() 00059 { 00060 NODELET_DEBUG_STREAM("Kobuki : initialising nodelet..."); 00061 std::string nodelet_name = this->getName(); 00062 kobuki_.reset(new FakeKobukiRos(nodelet_name)); 00063 // if there are latency issues with callbacks, we might want to move to process callbacks in multiple threads (use MTPrivateNodeHandle) 00064 if (kobuki_->init(this->getPrivateNodeHandle())) 00065 { 00066 update_thread_ = boost::thread(&SoftKobukiNodelet::update,this); 00067 NODELET_INFO_STREAM("Kobuki : initialised."); 00068 } 00069 else 00070 { 00071 NODELET_ERROR_STREAM("Kobuki : could not initialise! Please restart."); 00072 } 00073 } 00074 private: 00075 void update() 00076 { 00077 ros::Rate spin_rate(30); 00078 while (ros::ok() && kobuki_->update()) 00079 { 00080 spin_rate.sleep(); 00081 } 00082 } 00083 00084 boost::shared_ptr<FakeKobukiRos> kobuki_; 00085 boost::thread update_thread_; 00086 }; 00087 00088 } // namespace kobuki 00089 00090 PLUGINLIB_EXPORT_CLASS(kobuki::SoftKobukiNodelet, nodelet::Nodelet);