ackermann_to_vesc_nodelet.cpp

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// Copyright 2020 F1TENTH Foundation
//
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// provided that the following conditions are met:
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#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include <ros/ros.h>

#include <memory>

#include "vesc_ackermann/ackermann_to_vesc.h"

namespace vesc_ackermann
{

class AckermannToVescNodelet: public nodelet::Nodelet
{
public:
  AckermannToVescNodelet() {}

private:
  virtual void onInit(void);

  std::shared_ptr<AckermannToVesc> ackermann_to_vesc_;
};  // class AckermannToVescNodelet

void AckermannToVescNodelet::onInit()
{
  NODELET_DEBUG("Initializing ackermann to VESC nodelet");
  ackermann_to_vesc_.reset(new AckermannToVesc(getNodeHandle(), getPrivateNodeHandle()));
}

}  // namespace vesc_ackermann

PLUGINLIB_EXPORT_CLASS(vesc_ackermann::AckermannToVescNodelet, nodelet::Nodelet);