rtt_rospack_service.cpp

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#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;

class ROSPackService : public RTT::Service {
public:
    ROSPackService(TaskContext* owner) 
        : Service("rospack", owner) 
    {
        this->addOperation("find", &ros::package::getPath).doc("Returns the fully-qualified path to a package, or an empty string if the package is not found");
    }
};

void loadROSPackService(){
  RTT::Service::shared_ptr rps(new ROSPackService(0));
  RTT::internal::GlobalService::Instance()->addService(rps);
}

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