nodelet.cpp
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00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (C) 2012 Ken Tossell
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the author nor other contributors may be
00018 *     used to endorse or promote products derived from this software
00019 *     without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 #include <ros/ros.h>
00035 #include <pluginlib/class_list_macros.h>
00036 #include <nodelet/nodelet.h>
00037 
00038 #include "libuvc_camera/camera_driver.h"
00039 
00040 namespace libuvc_camera {
00041 
00042 class CameraNodelet : public nodelet::Nodelet {
00043 public:
00044   CameraNodelet() : running_(false) {}
00045   ~CameraNodelet();
00046 
00047 private:
00048   virtual void onInit();
00049 
00050   volatile bool running_;
00051   boost::shared_ptr<CameraDriver> driver_;
00052 };
00053 
00054 CameraNodelet::~CameraNodelet() {
00055   if (running_) {
00056     driver_->Stop();
00057   }
00058 }
00059 
00060 void CameraNodelet::onInit() {
00061   ros::NodeHandle nh(getNodeHandle());
00062   ros::NodeHandle priv_nh(getPrivateNodeHandle());
00063 
00064   driver_.reset(new CameraDriver(nh, priv_nh));
00065   if (driver_->Start()) {
00066     running_ = true;
00067   } else {
00068     NODELET_ERROR("Unable to open camera.");
00069     driver_.reset();
00070   }
00071 }
00072 
00073 };
00074 
00075 // Register this plugin with pluginlib.
00076 //
00077 // parameters are: class type, base class type
00078 PLUGINLIB_EXPORT_CLASS(libuvc_camera::CameraNodelet, nodelet::Nodelet)


libuvc_camera
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autogenerated on Tue Jul 9 2019 03:20:57