nodelet_manager.h

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#pragma once

#include <memory>
#include <string>

#include <boost/shared_ptr.hpp>

#include <nodelet/loader.h>
#include <nodelet/nodelet.h>
#include <pluginlib/class_loader.h>
#include <ros/node_handle.h>

#include <cras_cpp_common/nodelet_utils/loader_ros.h>

namespace cras
{

class NodeletManager
{
public:
  explicit NodeletManager(::ros::NodeHandle nh = {"~"});

  virtual void init();

protected:
  virtual ::boost::shared_ptr<::nodelet::Nodelet> createInstance(const ::std::string& lookupName);

  typedef ::pluginlib::ClassLoader<::nodelet::Nodelet> ClassLoader;

  ::std::unique_ptr<ClassLoader> classLoader;

  // loader has to be declared after classLoader, otherwise we get class_loader SEVERE_WARNING
  // about leaving managed instances in memory
  ::std::unique_ptr<::nodelet::Loader> loader;

  ::std::unique_ptr<::cras::LoaderROS> loaderRos;

  ::ros::NodeHandle nh;
};

}