phidgets_imu_nodelet.cpp

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#include "phidgets_imu/phidgets_imu_nodelet.h"

typedef phidgets::PhidgetsImuNodelet PhidgetsImuNodelet;

PLUGINLIB_DECLARE_CLASS (phidgets_imu, PhidgetsImuNodelet, PhidgetsImuNodelet, nodelet::Nodelet);

void PhidgetsImuNodelet::onInit()
{
  NODELET_INFO("Initializing Phidgets IMU Nodelet");
  
  // TODO: Do we want the single threaded or multithreaded NH?
  ros::NodeHandle nh         = getMTNodeHandle();
  ros::NodeHandle nh_private = getMTPrivateNodeHandle();

  imu_ = new ImuRosI(nh, nh_private);
}