00001 00002 #include <rtt/RTT.hpp> 00003 #include <rtt/Property.hpp> 00004 #include <rtt/plugin/ServicePlugin.hpp> 00005 #include <rtt/types/PropertyDecomposition.hpp> 00006 00007 #include <rtt_rosclock/rtt_rosclock.h> 00008 00009 using namespace RTT; 00010 using namespace std; 00011 00012 class SimClockActivityService: public RTT::Service 00013 { 00014 public: 00015 00016 SimClockActivityService(TaskContext* owner) : 00017 Service("sim_clock_activity", owner) 00018 { 00019 this->doc("RTT Service for synchronizing ROS parameters with the properties of a corresponding RTT component"); 00020 00021 // TODO: load rosclock global service 00022 rtt_rosclock::set_sim_clock_activity(owner); 00023 } 00024 00025 }; 00026 00027 ORO_SERVICE_NAMED_PLUGIN(SimClockActivityService, "sim_clock_activity")