laser_height_estimation_nodelet.cpp

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2010,
 *  Ivan Dryanovski <ivan.dryanovski@gmail.com>
 *  William Morris <morris@ee.ccny.cuny.edu>
 * All rights reserved.
 *
 * 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 CCNY Robotics Lab nor the names of its
 *    contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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*/

#include "laser_height_estimation/laser_height_estimation_nodelet.h"

typedef mav::LaserHeightEstimationNodelet LaserHeightEstimationNodelet;

PLUGINLIB_DECLARE_CLASS (
  laser_height_estimation, LaserHeightEstimationNodelet, 
  LaserHeightEstimationNodelet, nodelet::Nodelet);

void mav::LaserHeightEstimationNodelet::onInit ()
{
  NODELET_INFO("Initializing LaserHeightEstimation Nodelet");
  
  // TODO: Do we want the single threaded or multithreaded NH?
  ros::NodeHandle nh         = getMTNodeHandle();
  ros::NodeHandle nh_private = getMTPrivateNodeHandle();

  laser_height_estimation_ = new mav::LaserHeightEstimation(nh, nh_private);  
}