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)