kobuki_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  */
00035 /*****************************************************************************
00036  ** Includes
00037  *****************************************************************************/
00038 
00039 #include <nodelet/nodelet.h>
00040 #include <pluginlib/class_list_macros.h>
00041 #include <ecl/threads/thread.hpp>
00042 #include "kobuki_node/kobuki_ros.hpp"
00043 
00044 
00045 namespace kobuki
00046 {
00047 
00048 class KobukiNodelet : public nodelet::Nodelet
00049 {
00050 public:
00051   KobukiNodelet() : shutdown_requested_(false) {};
00052   ~KobukiNodelet()
00053   {
00054     NODELET_DEBUG_STREAM("Kobuki : waiting for update thread to finish.");
00055     shutdown_requested_ = true;
00056     update_thread_.join();
00057   }
00058   virtual void onInit()
00059   {
00060     NODELET_DEBUG_STREAM("Kobuki : initialising nodelet...");
00061     std::string nodelet_name = this->getName();
00062     kobuki_.reset(new KobukiRos(nodelet_name));
00063     // if there are latency issues with callbacks, we might want to move to process callbacks in multiple threads (use MTPrivateNodeHandle)
00064     if (kobuki_->init(this->getPrivateNodeHandle(), this->getNodeHandle()))
00065     {
00066       update_thread_.start(&KobukiNodelet::update, *this);
00067       NODELET_INFO_STREAM("Kobuki : initialised.");
00068     }
00069     else
00070     {
00071       NODELET_ERROR_STREAM("Kobuki : could not initialise! Please restart.");
00072     }
00073   }
00074 private:
00075   void update()
00076   {
00077     ros::Rate spin_rate(10);
00078     while (!shutdown_requested_ && ros::ok() && kobuki_->update())
00079     {
00080       spin_rate.sleep();
00081     }
00082   }
00083 
00084   boost::shared_ptr<KobukiRos> kobuki_;
00085   ecl::Thread update_thread_;
00086   bool shutdown_requested_;
00087 };
00088 
00089 } // namespace kobuki
00090 
00091 PLUGINLIB_EXPORT_CLASS(kobuki::KobukiNodelet, nodelet::Nodelet);


kobuki_node
Author(s): Daniel Stonier, Younghun Ju, Jorge Santos Simon
autogenerated on Thu Jun 6 2019 17:37:58