nodelet.cpp
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00001 /*
00002  * Copyright (c) 2012, Yujin Robot.
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 Yujin Robot nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00039 /*****************************************************************************
00040  ** Includes
00041  *****************************************************************************/
00042 
00043 #include <nodelet/nodelet.h>
00044 #include <pluginlib/class_list_macros.h>
00045 #include <ecl/threads/thread.hpp>
00046 #include "kobuki_safety_controller/safety_controller.hpp"
00047 
00048 
00049 namespace kobuki
00050 {
00051 
00052 class SafetyControllerNodelet : public nodelet::Nodelet
00053 {
00054 public:
00055   SafetyControllerNodelet() : shutdown_requested_(false) { };
00056   ~SafetyControllerNodelet()
00057   {
00058     NODELET_DEBUG_STREAM("Waiting for update thread to finish.");
00059     shutdown_requested_ = true;
00060     update_thread_.join();
00061   }
00062   virtual void onInit()
00063   {
00064     ros::NodeHandle nh = this->getPrivateNodeHandle();
00065     // resolve node(let) name
00066     std::string name = nh.getUnresolvedNamespace();
00067     int pos = name.find_last_of('/');
00068     name = name.substr(pos + 1);
00069     NODELET_INFO_STREAM("Initialising nodelet... [" << name << "]");
00070     controller_.reset(new SafetyController(nh, name));
00071     if (controller_->init())
00072     {
00073       NODELET_INFO_STREAM("Kobuki initialised. Spinning up update thread ... [" << name << "]");
00074       update_thread_.start(&SafetyControllerNodelet::update, *this);
00075       NODELET_INFO_STREAM("Nodelet initialised. [" << name << "]");
00076     }
00077     else
00078     {
00079       NODELET_ERROR_STREAM("Couldn't initialise nodelet! Please restart. [" << name << "]");
00080     }
00081   }
00082 private:
00083   void update()
00084   {
00085     ros::Rate spin_rate(10);
00086     controller_->enable(); // enable the controller when loading the nodelet
00087     while (! shutdown_requested_ && ros::ok())
00088     {
00089       controller_->spin();
00090       spin_rate.sleep();
00091     }
00092   }
00093 
00094   boost::shared_ptr<SafetyController> controller_;
00095   ecl::Thread update_thread_;
00096   bool shutdown_requested_;
00097 };
00098 
00099 } // namespace kobuki
00100 
00101 PLUGINLIB_EXPORT_CLASS(kobuki::SafetyControllerNodelet,
00102                         nodelet::Nodelet);


kobuki_safety_controller
Author(s): Marcus Liebhardt
autogenerated on Wed Sep 16 2015 04:35:29