nodelet.cpp

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#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include <std_msgs/String.h>

namespace some_namespace
{

using std::string;

class MyNodelet : public nodelet::Nodelet
{
private:
  ros::NodeHandle nh_priv;
  ros::NodeHandle nh;
  // Params
  bool enable_awesomeness; // enable cool stuff
  double awesome_factor; // [rad/s] amount of awesomeness
  // Publishers
  ros::Publisher awesome_pub;
  // Subscribers
  ros::Subscriber chatter_sub;
  // Timers
  ros::Timer output_timer;
  // Members
  string latest_chatter;

public:
  MyNodelet() :
    enable_awesomeness(true), awesome_factor(1.57)
  {
  }
private:
  void onInit()
  {
    nh = getMTNodeHandle();
    nh_priv = getMTPrivateNodeHandle();

    NODELET_INFO("onInit()");

    // Parameters
    nh_priv.param("enable_awesomeness", enable_awesomeness, enable_awesomeness);
    nh_priv.param("awesome_factor", awesome_factor, awesome_factor);
    // Publishers
    awesome_pub = nh_priv.advertise<std_msgs::String> ("awesome", 10);
    // Subscribers
    chatter_sub = nh.subscribe("chatter", 10, &MyNodelet::chatterCb, this);
    // Timers
    output_timer = nh.createTimer(ros::Duration(0.1), &MyNodelet::outputTimerCb, this);
  }

  void outputTimerCb(const ros::TimerEvent& e)
  {
    std_msgs::String output;
    std::ostringstream s;
    s << "foo bar baz " << awesome_factor;
    output.data = s.str();
    awesome_pub.publish(output);
  }

  void chatterCb(const std_msgs::StringConstPtr& chatter)
  {
    NODELET_INFO_STREAM("Heard chatter: " << chatter->data);
  }

};
PLUGINLIB_DECLARE_CLASS(some_namespace, MyNodelet, some_namespace::MyNodelet, nodelet::Nodelet)
;
}