rtt_rospack_service.cpp

Go to the documentation of this file.

#include <rtt/RTT.hpp>
#include <rtt/plugin/Plugin.hpp>
#include <rtt/plugin/ServicePlugin.hpp>
#include <rtt/internal/GlobalService.hpp>

#include <ros/package.h>

using namespace RTT;
using namespace std;

void loadROSPackService(){
  RTT::Service::shared_ptr ros = RTT::internal::GlobalService::Instance()->provides("ros");

  ros->addOperation("find", &ros::package::getPath).doc(
      "Returns the fully-qualified path to a package, or an empty string if the package is not found");
}

using namespace RTT;
extern "C" {
  bool loadRTTPlugin(RTT::TaskContext* c){
    if (c != 0) return false;
    loadROSPackService();
    return true;
  }
  std::string getRTTPluginName (){
    return "rospack";
  }
  std::string getRTTTargetName (){
    return OROCOS_TARGET_NAME;
  }
}