00001 /* 00002 * Copyright 2015 Aldebaran 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 * 00016 */ 00017 00018 /* 00019 * LOCAL includes 00020 */ 00021 #include "info.hpp" 00022 #include "../tools/robot_description.hpp" 00023 00024 namespace naoqi 00025 { 00026 namespace publisher 00027 { 00028 00029 InfoPublisher::InfoPublisher(const std::string& topic , const robot::Robot& robot_type) 00030 : BasicPublisher( topic ), 00031 robot_(robot_type) 00032 { 00033 } 00034 00035 void InfoPublisher::reset( ros::NodeHandle& nh ) 00036 { 00037 // We latch as we only publish once 00038 pub_ = nh.advertise<naoqi_bridge_msgs::StringStamped>( topic_, 1, true ); 00039 00040 std::string robot_desc = naoqi::tools::getRobotDescription(robot_); 00041 nh.setParam("/robot_description", robot_desc); 00042 std::cout << "load robot description from file" << std::endl; 00043 00044 is_initialized_ = true; 00045 } 00046 00047 } // publisher 00048 } //naoqi