nodelet.cc
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1 // Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
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32 
38 #include <string>
39 #include <boost/thread.hpp>
40 
41 #include <ros/ros.h>
43 #include <nodelet/nodelet.h>
44 
45 #include "velodyne_driver/driver.h"
46 
47 namespace velodyne_driver
48 {
49 
51 {
52 public:
53 
55  running_(false)
56  {}
57 
59  {
60  if (running_)
61  {
62  NODELET_INFO("shutting down driver thread");
63  running_ = false;
64  deviceThread_->join();
65  NODELET_INFO("driver thread stopped");
66  }
67  }
68 
69 private:
70 
71  virtual void onInit(void);
72  virtual void devicePoll(void);
73 
74  volatile bool running_;
76 
78 };
79 
81 {
82  // start the driver
84 
85  // spawn device poll thread
86  running_ = true;
88  (new boost::thread(boost::bind(&DriverNodelet::devicePoll, this)));
89 }
90 
93 {
94  while(ros::ok())
95  {
96  // poll device until end of file
97  running_ = dvr_->poll();
98  if (!running_)
99  ROS_ERROR_THROTTLE(1.0, "DriverNodelet::devicePoll - Failed to poll device.");
100  }
101  running_ = false;
102 }
103 
104 } // namespace velodyne_driver
105 
106 // Register this plugin with pluginlib. Names must match nodelet_velodyne.xml.
107 //
108 // parameters are: class type, base class type
ros::NodeHandle & getPrivateNodeHandle() const
volatile bool running_
device thread is running
Definition: nodelet.cc:74
#define ROS_ERROR_THROTTLE(period,...)
boost::shared_ptr< boost::thread > deviceThread_
Definition: nodelet.cc:75
ROSCPP_DECL bool ok()
virtual void onInit(void)
Definition: nodelet.cc:80
ros::NodeHandle & getNodeHandle() const
#define NODELET_INFO(...)
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
virtual void devicePoll(void)
Device poll thread main loop.
Definition: nodelet.cc:92
boost::shared_ptr< VelodyneDriver > dvr_
driver implementation class
Definition: nodelet.cc:77


velodyne_driver
Author(s): Jack O'Quin, Patrick Beeson, Michael Quinlan, Yaxin Liu
autogenerated on Thu Jul 4 2019 19:09:28