bta_ros_nodelet.cpp

Go to the documentation of this file.

/******************************************************************************
 * Copyright (c) 2014
 * VoXel Interaction Design GmbH
 *
 * @author Angel Merino Sastre
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 *
 ******************************************************************************/

#include <bta_ros/bta_ros.hpp>
#include <nodelet/nodelet.h>

namespace bta_ros {

class BtaRosNodelet : public nodelet::Nodelet {

public:
         BtaRosNodelet() : 
                nodelet::Nodelet(),
                lp_(NULL),
                stream_thread_(NULL)
         {
         };
         
        virtual ~BtaRosNodelet() 
        {
                stream_thread_->join();
        };
        
private:
        virtual void onInit() 
        {
                NODELET_WARN_STREAM("Initializing nodelet..." << getName());
                
                lp_.reset(new bta_ros::BtaRos(getNodeHandle(), getPrivateNodeHandle(), getName()));
                stream_thread_.reset(new boost::thread(boost::bind(&BtaRos::initialize, lp_.get())));
        };
                boost::scoped_ptr<bta_ros::BtaRos> lp_;
                boost::scoped_ptr<boost::thread> stream_thread_;
        };
        
}
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(bta_ros::BtaRosNodelet, nodelet::Nodelet);