failing_nodelet.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2014, Open Source Robotics Foundation, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Open Source Robotics Foundation, Inc. nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <pluginlib/class_list_macros.hpp>
#include <nodelet/nodelet.h>
#include <ros/ros.h>
#include <std_msgs/Bool.h>
 
namespace test_nodelet
{
 
class FailingNodelet : public nodelet::Nodelet
{
public:
  FailingNodelet()
  {}
 
private:
  virtual void onInit()
  {
    m_publisher = getPrivateNodeHandle().advertise<std_msgs::Bool>("boolean", 5, false);
    throw std::runtime_error("Initialization error");
  }
 
private:
  ros::Publisher m_publisher;
};
 
PLUGINLIB_EXPORT_CLASS(test_nodelet::FailingNodelet, nodelet::Nodelet)
}