00001 /* 00002 * Copyright (c) 2011, Nico Blodow <blodow@cs.tum.edu> 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Intelligent Autonomous Systems Group/ 00014 * Technische Universitaet Muenchen nor the names of its contributors 00015 * may be used to endorse or promote products derived from this software 00016 * without specific prior written permission. 00017 * 00018 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00019 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00020 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00021 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00022 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00023 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00024 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00025 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00026 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00027 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00028 * POSSIBILITY OF SUCH DAMAGE. 00029 */ 00030 00031 #include <realtime_urdf_filter/realtime_urdf_filter_nodelet.h> 00032 #include <pluginlib/class_list_macros.h> 00033 00034 // watch the capitalization carefully 00035 PLUGINLIB_DECLARE_CLASS(realtime_urdf_filter, RealtimeURDFFilterNodelet, realtime_urdf_filter::RealtimeURDFFilterNodelet, nodelet::Nodelet); 00036 00037 namespace realtime_urdf_filter 00038 { 00039 RealtimeURDFFilterNodelet::RealtimeURDFFilterNodelet() : 00040 args_(), 00041 argc_(0), 00042 argv_(NULL) 00043 { 00044 00045 } 00046 00047 void RealtimeURDFFilterNodelet::onInit() 00048 { 00049 NODELET_DEBUG("Initializing nodelet..."); 00050 00051 // Free previously allocated memory 00052 if(argv_) { 00053 for(unsigned int i=0; i<argc_; i++) { 00054 delete argv_[i]; 00055 } 00056 delete[] argv_; 00057 argc_ = 0; 00058 } 00059 00060 // Convert argv to c-style argc,argv for OpenGL subsystem 00061 args_ = this->getMyArgv(); 00062 argc_ = args_.size(); 00063 argv_ = new char*[argc_]; 00064 for(unsigned int i=0; i<argc_; i++) { 00065 // Yay constructing null-terminated strings... 00066 argv_[i] = new char[args_[i].size()+1]; 00067 strncpy(argv_[i], args_[i].c_str(), args_[i].size()+1); 00068 } 00069 00070 // Get nodelet node handle 00071 ros::NodeHandle nh = this->getPrivateNodeHandle(); 00072 00073 // Create the filter 00074 filter_.reset(new realtime_urdf_filter::RealtimeURDFFilter(nh, argc_, argv_)); 00075 } 00076 }