nodelet.cpp

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#include "nodelet.h"
#include "zivid_camera.h"

#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>

#include <memory>
#include <exception>

namespace zivid_camera
{
void ZividNodelet::onInit()
{
  try
  {
    // Important: use non-multi-threaded callback queues (getNodeHandle and getPrivateNodeHandle).
    camera = std::make_unique<ZividCamera>(getNodeHandle(), getPrivateNodeHandle());
  }
  catch (const std::exception& e)
  {
    NODELET_ERROR_STREAM("Failed to initialize camera driver. Exception: \"" << e.what() << "\"");
    throw;
  }
  catch (...)
  {
    NODELET_ERROR_STREAM("Failed to initialize camera driver (unknown exception)");
    throw;
  }
}
}  // namespace zivid_camera

#ifdef __clang__
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wglobal-constructors"
#endif

PLUGINLIB_EXPORT_CLASS(zivid_camera::ZividNodelet, nodelet::Nodelet)

#ifdef __clang__
#pragma clang diagnostic pop
#endif