nodelet.cpp

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#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>

#include "PdsNode.h"

namespace dataspeed_pds_can
{

class PdsNodelet : public nodelet::Nodelet
{
public:
  void onInit(void)
  {
    node_.reset(new PdsNode(getNodeHandle(), getPrivateNodeHandle()));
  }

private:
  boost::shared_ptr<PdsNode> node_;
};

} // namespace dataspeed_pds_can

// Register this plugin with pluginlib.  Names must match nodelets.xml.
//
// parameters: class type, base class type
PLUGINLIB_EXPORT_CLASS(dataspeed_pds_can::PdsNodelet, nodelet::Nodelet);