kobuki_nodelet.cpp
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00001 /*
00002  * Copyright (c) 2012, Yujin Robot.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Yujin Robot nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00035 /*****************************************************************************
00036  ** Includes
00037  *****************************************************************************/
00038 
00039 #include <nodelet/nodelet.h>
00040 #include <pluginlib/class_list_macros.h>
00041 #include <boost/thread.hpp>
00042 
00043 #include "kobuki_softnode/fake_kobuki_ros.h"
00044 
00045 
00046 namespace kobuki
00047 {
00048 
00049 class SoftKobukiNodelet : public nodelet::Nodelet
00050 {
00051   public:
00052     SoftKobukiNodelet(){};
00053     ~SoftKobukiNodelet()
00054     {
00055       NODELET_DEBUG_STREAM("Kobuki : waiting for update thread to finish.");
00056       update_thread_.join();
00057     }
00058     virtual void onInit()
00059     {
00060       NODELET_DEBUG_STREAM("Kobuki : initialising nodelet...");
00061       std::string nodelet_name = this->getName();
00062       kobuki_.reset(new FakeKobukiRos(nodelet_name));
00063       // if there are latency issues with callbacks, we might want to move to process callbacks in multiple threads (use MTPrivateNodeHandle)
00064       if (kobuki_->init(this->getPrivateNodeHandle()))
00065       {
00066         update_thread_ = boost::thread(&SoftKobukiNodelet::update,this);
00067         NODELET_INFO_STREAM("Kobuki : initialised.");
00068       }
00069       else
00070       {
00071         NODELET_ERROR_STREAM("Kobuki : could not initialise! Please restart.");
00072       }
00073     }
00074   private:
00075     void update()
00076     {
00077       ros::Rate spin_rate(30);
00078       while (ros::ok() && kobuki_->update())
00079       {
00080         spin_rate.sleep();
00081       }
00082     }
00083 
00084     boost::shared_ptr<FakeKobukiRos> kobuki_;
00085     boost::thread update_thread_;
00086 };
00087 
00088 } // namespace kobuki
00089 
00090 PLUGINLIB_EXPORT_CLASS(kobuki::SoftKobukiNodelet, nodelet::Nodelet);
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kobuki_softnode
Author(s): Jihoon Lee
autogenerated on Tue Jul 9 2013 11:05:05