nodelet_utils.hpp

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#pragma once
 
#include <nodelet/nodelet.h>
 
#include "nodelet_utils/log_macros.h"
#include "nodelet_utils/param_helper.hpp"
#include "nodelet_utils/nodelet_aware_tf_buffer.h"
#include "nodelet_utils/nodelet_with_diagnostics.hpp"
#include "nodelet_utils/nodelet_with_shared_tf_buffer.hpp"
#include "nodelet_utils/stateful_nodelet.hpp"
#include "nodelet_utils/thread_name_updating_nodelet.hpp"
 
namespace cras
{
 
template <typename BaseNodelet>
class NodeletBase :
  public virtual BaseNodelet,  // has to be virtual, most mixins also have BaseNodelet as virtual base class
  public ::cras::NodeletWithDiagnostics<BaseNodelet>,
  public ::cras::NodeletWithSharedTfBuffer<BaseNodelet>,
  public ::cras::ThreadNameUpdatingNodelet<BaseNodelet>,
  public ::cras::NodeletParamHelper<BaseNodelet>,
  public ::cras::StatefulNodelet<BaseNodelet>
{
public:
  ~NodeletBase() override = default;
protected:
  using BaseNodelet::getName;  // for disambiguation because some mixins contain a "using getName()"
 
  void onInit() override
  {
    ::cras::NodeletWithSharedTfBuffer<BaseNodelet>::onInit();
  }
};
 
class Nodelet : public ::cras::NodeletBase<::nodelet::Nodelet>
{
public:
  ~Nodelet() override = default;
};
 
}