nodelet.cpp

Go to the documentation of this file.

// Copyright (C) 2018, 2019 Kevin Hallenbeck, Joshua Whitley
// All rights reserved.
//
// Software License Agreement (BSD License 2.0)
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above
//    copyright notice, this list of conditions and the following
//    disclaimer in the documentation and/or other materials provided
//    with the distribution.
//  * Neither the name of {copyright_holder} nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
#include "velodyne_laserscan/velodyne_laserscan.h"

namespace velodyne_laserscan
{

class LaserScanNodelet: public nodelet::Nodelet
{
public:
  LaserScanNodelet() {}
  ~LaserScanNodelet() {}

private:
  virtual void onInit()
  {
    node_.reset(new VelodyneLaserScan(getNodeHandle(), getPrivateNodeHandle()));
  }

  boost::shared_ptr<VelodyneLaserScan> node_;
};

}  // namespace velodyne_laserscan

PLUGINLIB_EXPORT_CLASS(velodyne_laserscan::LaserScanNodelet, nodelet::Nodelet);