nodelet.cpp
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29 
38 /*****************************************************************************
39 ** Includes
40 *****************************************************************************/
41 // %Tag(FULLTEXT)%
42 #include <nodelet/nodelet.h>
45 
46 
47 namespace kobuki
48 {
49 
54 {
55 public:
58 
64  virtual void onInit()
65  {
67 
68  // resolve node(let) name
69  std::string name = nh.getUnresolvedNamespace();
70  int pos = name.find_last_of('/');
71  name = name.substr(pos + 1);
72 
73  NODELET_INFO_STREAM("Initialising nodelet... [" << name << "]");
74  controller_.reset(new BumpBlinkController(nh, name));
75 
76  // Initialises the controller
77  if (controller_->init())
78  {
79  NODELET_INFO_STREAM("Nodelet initialised. [" << name << "]");
80  }
81  else
82  {
83  NODELET_ERROR_STREAM("Couldn't initialise nodelet! Please restart. [" << name << "]");
84  }
85  }
86 private:
88 };
89 
90 } // namespace kobuki
91 
94 // %EndTag(FULLTEXT)%
#define NODELET_INFO_STREAM(...)
const std::string & getUnresolvedNamespace() const
Nodelet-wrapper of the BumpBlinkController class.
Definition: nodelet.cpp:53
ros::NodeHandle & getPrivateNodeHandle() const
#define NODELET_ERROR_STREAM(...)
PLUGINLIB_EXPORT_CLASS(kobuki::BumpBlinkControllerNodelet, nodelet::Nodelet)
virtual void onInit()
Initialise the nodelet.
Definition: nodelet.cpp:64
boost::shared_ptr< BumpBlinkController > controller_
Definition: nodelet.cpp:87


kobuki_controller_tutorial
Author(s): Marcus Liebhardt
autogenerated on Mon Jun 10 2019 13:45:01