phidgets_digital_outputs_nodelet.cpp

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     * Redistributions of source code must retain the above copyright
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 *     * Redistributions in binary form must reproduce the above copyright
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 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <memory>
 
#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include <ros/ros.h>
 
#include "phidgets_digital_outputs/digital_outputs_ros_i.h"
#include "phidgets_digital_outputs/phidgets_digital_outputs_nodelet.h"
 
typedef phidgets::PhidgetsDigitalOutputsNodelet PhidgetsDigitalOutputsNodelet;
 
PLUGINLIB_EXPORT_CLASS(PhidgetsDigitalOutputsNodelet, nodelet::Nodelet)
 
void PhidgetsDigitalOutputsNodelet::onInit()
{
    NODELET_INFO("Initializing Phidgets Digital Outputs Nodelet");
 
    // TODO: Do we want the single threaded or multithreaded NH?
    ros::NodeHandle nh = getMTNodeHandle();
    ros::NodeHandle nh_private = getMTPrivateNodeHandle();
 
    dos_ = std::make_unique<DigitalOutputsRosI>(nh, nh_private);
}