00001 /* 00002 * Copyright (c) 2009, Willow Garage, Inc. 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 the Willow Garage, Inc. 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 00030 #include <pluginlib/class_list_macros.h> 00031 #include <nodelet/nodelet.h> 00032 #include <ros/ros.h> 00033 #include <std_msgs/Float64.h> 00034 #include <stdio.h> 00035 00036 00037 #include <math.h> //fabs 00038 00039 namespace nodelet_tutorial_math 00040 { 00041 00042 class Plus : public nodelet::Nodelet 00043 { 00044 public: 00045 Plus() 00046 : value_(0) 00047 {} 00048 00049 private: 00050 virtual void onInit() 00051 { 00052 ros::NodeHandle& private_nh = getPrivateNodeHandle(); 00053 private_nh.getParam("value", value_); 00054 pub = private_nh.advertise<std_msgs::Float64>("out", 10); 00055 sub = private_nh.subscribe("in", 10, &Plus::callback, this); 00056 } 00057 00058 void callback(const std_msgs::Float64::ConstPtr& input) 00059 { 00060 std_msgs::Float64Ptr output(new std_msgs::Float64()); 00061 output->data = input->data + value_; 00062 NODELET_DEBUG("Adding %f to get %f", value_, output->data); 00063 pub.publish(output); 00064 } 00065 00066 ros::Publisher pub; 00067 ros::Subscriber sub; 00068 double value_; 00069 }; 00070 00071 PLUGINLIB_EXPORT_CLASS(nodelet_tutorial_math::Plus, nodelet::Nodelet) 00072 }