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src
vesc_driver_nodelet.cpp
Go to the documentation of this file.
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// Copyright 2020 F1TENTH Foundation
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//
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// Redistribution and use in source and binary forms, with or without modification, are permitted
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// provided that the following conditions are met:
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//
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// 1. Redistributions of source code must retain the above copyright notice, this list of conditions
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// and the following disclaimer.
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//
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// 2. Redistributions in binary form must reproduce the above copyright notice, this list
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// of conditions and the following disclaimer in the documentation and/or other materials
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// provided with the distribution.
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//
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// 3. Neither the name of the copyright holder nor the names of its contributors may be used
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// to endorse or promote products derived from this software without specific prior
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// written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
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// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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// FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
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// WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <
nodelet/nodelet.h
>
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#include <
pluginlib/class_list_macros.h
>
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#include <
ros/ros.h
>
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#include <memory>
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#include "
vesc_driver/vesc_driver.h
"
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namespace
vesc_driver
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{
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class
VescDriverNodelet
:
public
nodelet::Nodelet
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{
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public
:
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VescDriverNodelet
() {}
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private
:
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virtual
void
onInit
(
void
);
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std::shared_ptr<VescDriver>
vesc_driver_
;
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};
// class VescDriverNodelet
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void
VescDriverNodelet::onInit
()
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{
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NODELET_DEBUG
(
"Initializing VESC driver nodelet"
);
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vesc_driver_
.reset(
new
VescDriver
(
getNodeHandle
(),
getPrivateNodeHandle
()));
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}
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}
// namespace vesc_driver
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PLUGINLIB_EXPORT_CLASS
(
vesc_driver::VescDriverNodelet
,
nodelet::Nodelet
);
vesc_driver
Definition:
vesc_driver.h:41
vesc_driver::VescDriverNodelet
Definition:
vesc_driver_nodelet.cpp:37
nodelet::Nodelet::getPrivateNodeHandle
ros::NodeHandle & getPrivateNodeHandle() const
vesc_driver::VescDriver
Definition:
vesc_driver.h:44
nodelet.h
nodelet::Nodelet
class_list_macros.h
PLUGINLIB_EXPORT_CLASS
PLUGINLIB_EXPORT_CLASS(vesc_driver::VescDriverNodelet, nodelet::Nodelet)
vesc_driver::VescDriverNodelet::vesc_driver_
std::shared_ptr< VescDriver > vesc_driver_
Definition:
vesc_driver_nodelet.cpp:45
nodelet::Nodelet::getNodeHandle
ros::NodeHandle & getNodeHandle() const
vesc_driver::VescDriverNodelet::onInit
virtual void onInit(void)
Definition:
vesc_driver_nodelet.cpp:48
ros.h
vesc_driver::VescDriverNodelet::VescDriverNodelet
VescDriverNodelet()
Definition:
vesc_driver_nodelet.cpp:40
vesc_driver.h
NODELET_DEBUG
#define NODELET_DEBUG(...)
vesc_driver
Author(s): Michael T. Boulet
, Joshua Whitley
autogenerated on Sun Apr 18 2021 02:48:01