phidgets_analog_outputs_nodelet.cpp

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#include <memory>
 
#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include <ros/ros.h>
 
#include "phidgets_analog_outputs/analog_outputs_ros_i.h"
#include "phidgets_analog_outputs/phidgets_analog_outputs_nodelet.h"
 
typedef phidgets::PhidgetsAnalogOutputsNodelet PhidgetsAnalogOutputsNodelet;
 
PLUGINLIB_EXPORT_CLASS(PhidgetsAnalogOutputsNodelet, nodelet::Nodelet)
 
void PhidgetsAnalogOutputsNodelet::onInit()
{
    NODELET_INFO("Initializing Phidgets Analog Outputs Nodelet");
 
    // TODO: Do we want the single threaded or multithreaded NH?
    ros::NodeHandle nh = getMTNodeHandle();
    ros::NodeHandle nh_private = getMTPrivateNodeHandle();
 
    aos_ = std::make_unique<AnalogOutputsRosI>(nh, nh_private);
}