nodelet_manager_sharing_tf_buffer.h

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#pragma once

#include <memory>
#include <string>

#include <boost/shared_ptr.hpp>

#include <nodelet/nodelet.h>
#include <ros/node_handle.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>

#include <cras_cpp_common/nodelet_utils/nodelet_manager.h>
#include <cras_cpp_common/nodelet_utils/nodelet_with_shared_tf_buffer.hpp>

namespace cras
{

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

  void init() override;

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

  ::std::shared_ptr<::tf2_ros::Buffer> buffer;

  ::std::unique_ptr<::tf2_ros::TransformListener> listener;
};

}