nodelet.cpp

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#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
 
#include "PdsNode.h"
 
namespace dataspeed_pds_lcm
{
 
class PdsNodelet : public nodelet::Nodelet
{
public:
  void onInit(void)
  {
        // WARNING
        //  === UNTESTED ===
        // WARNING
    const int ROS_RESPONSE_TIME_MS = 100;
    const float TRY_CONNECT_EVERY_S = 1.0;
    const float WARN_EVERY_S = 10.0;
  
    std::string lcm_url;
    getPrivateNodeHandle().getParam("lcm_url", lcm_url);
    if (lcm_url.empty()) {
      lcm_url = "udpm://225.0.0.0:7667?ttl=1";
    }
  
    lcm::LCM * lcm;
    while(ros::ok()) {
      lcm = new lcm::LCM(lcm_url);
      if(lcm->good()) {
        break;
      } else {
        ROS_WARN_THROTTLE(WARN_EVERY_S,"lcm is not initialized, is the network ready?");
        delete lcm;
      }
      ros::Duration(TRY_CONNECT_EVERY_S).sleep();
    }
    ROS_INFO("LCM connected to %s", lcm_url.c_str());
 
    // TODO: standard conventions will probably not work for lcm->ROS nodelet what do?
    node_.reset(new PdsNode(getNodeHandle(), getPrivateNodeHandle(), lcm));
  }
 
private:
  boost::shared_ptr<PdsNode> node_;
 
}; // class PdsNodelet
 
} // namespace dataspeed_pds_lcm
 
// Register this plugin with pluginlib.  Names must match nodelets.xml.
//
// parameters: class type, base class type
PLUGINLIB_EXPORT_CLASS(dataspeed_pds_lcm::PdsNodelet, nodelet::Nodelet);