00001 00002 #include <ros/ros.h> 00003 #include <nodelet/nodelet.h> 00004 #include <pluginlib/class_list_macros.h> 00005 #include <gscam/gscam_nodelet.h> 00006 00007 PLUGINLIB_DECLARE_CLASS(gscam, GSCamNodelet, gscam::GSCamNodelet, nodelet::Nodelet) 00008 00009 namespace gscam { 00010 GSCamNodelet::GSCamNodelet() : 00011 nodelet::Nodelet(), 00012 gscam_driver_(NULL), 00013 stream_thread_(NULL) 00014 { 00015 } 00016 00017 GSCamNodelet::~GSCamNodelet() 00018 { 00019 stream_thread_->join(); 00020 } 00021 00022 void GSCamNodelet::onInit() 00023 { 00024 gscam_driver_.reset(new gscam::GSCam(this->getNodeHandle(), this->getPrivateNodeHandle())); 00025 stream_thread_.reset(new boost::thread(boost::bind(&GSCam::run, gscam_driver_.get()))); 00026 } 00027 }