phidgets_high_speed_encoder_nodelet.cpp

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#include "phidgets_high_speed_encoder/phidgets_high_speed_encoder_nodelet.h"

typedef phidgets::PhidgetsHighSpeedEncoderNodelet
    PhidgetsHighSpeedEncoderNodelet;

PLUGINLIB_EXPORT_CLASS(PhidgetsHighSpeedEncoderNodelet, nodelet::Nodelet)

void PhidgetsHighSpeedEncoderNodelet::onInit()
{
    NODELET_INFO("Initializing Phidgets High Speed Encoder Nodelet");

    // TODO: Do we want the single threaded or multithreaded NH?
    ros::NodeHandle nh = getMTNodeHandle();
    ros::NodeHandle nh_private = getMTPrivateNodeHandle();

    enc_ = new HighSpeedEncoderRosI(nh, nh_private);
}