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  */
00035 /*****************************************************************************
00036  ** Includes
00037  *****************************************************************************/
00038 
00039 #include <nodelet/nodelet.h>
00040 #include <pluginlib/class_list_macros.h>
00041 #include <ecl/threads/thread.hpp>
00042 #include "kobuki_auto_docking/auto_docking_ros.hpp"
00043 
00044 namespace kobuki
00045 {
00046 
00047 class AutoDockingNodelet : public nodelet::Nodelet
00048 {
00049 public:
00050   AutoDockingNodelet(){;}
00051   ~AutoDockingNodelet()
00052   {
00053     NODELET_DEBUG("Waiting for update thread to finish.");
00054     update_thread_.join();
00055   }
00056   virtual void onInit()
00057   {
00058     NODELET_DEBUG("Initialising nodelet...");
00059     std::string nodelet_name = this->getName();
00060     auto_dock_.reset(new AutoDockingROS(nodelet_name));
00061     auto_dock_->init(this->getPrivateNodeHandle());
00062     NODELET_DEBUG("Nodelet initialised.");
00063   }
00064 private:
00065   void update()
00066   {
00067     ros::Rate spin_rate(10);
00068     while (ros::ok())
00069     {
00070       auto_dock_->spin();
00071       spin_rate.sleep();
00072     }
00073   }
00074 
00075   boost::shared_ptr<AutoDockingROS> auto_dock_;
00076   ecl::Thread update_thread_;
00077 };
00078 
00079 } //namespace kobuki
00080 PLUGINLIB_EXPORT_CLASS(kobuki::AutoDockingNodelet, nodelet::Nodelet);


kobuki_auto_docking
Author(s): Younghun Ju
autogenerated on Thu Jun 6 2019 17:37:33