nodelet.cpp

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/*
 * Copyright (c) 2012, Yujin Robot.
 * 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 Yujin Robot nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
/*****************************************************************************
 ** Includes
 *****************************************************************************/

#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include <ecl/threads/thread.hpp>
#include "kobuki_auto_docking/auto_docking_ros.hpp"

namespace kobuki
{

class AutoDockingNodelet : public nodelet::Nodelet
{
public:
  AutoDockingNodelet(){;}
  ~AutoDockingNodelet()
  {
    NODELET_DEBUG("Waiting for update thread to finish.");
    update_thread_.join();
  }
  virtual void onInit()
  {
    NODELET_DEBUG("Initialising nodelet...");
    std::string nodelet_name = this->getName();
    //auto_dock_.reset(new AutoDockingROS());
    auto_dock_.reset(new AutoDockingROS(nodelet_name));
    //auto_dock_.reset(new AutoDockingROS(this->getPrivateNodeHandle()));
    //auto_dock_.reset(new AutoDockingROS(this->getPrivateNodeHandle(), nodelet_name));
    auto_dock_->init(this->getPrivateNodeHandle());
    /*if (auto_dock_->init(this->getPrivateNodeHandle()))
    {
      NODELET_DEBUG("Auto docking initialised. Spinning up update thread ...");
      update_thread_.start(&AutoDockingNodelet::update, *this);
    }*/
    NODELET_DEBUG("Nodelet initialised.");
  }
private:
  void update()
  {
    ros::Rate spin_rate(10);
    while (ros::ok())
    {
      auto_dock_->spin();
      spin_rate.sleep();
    }
  }

  boost::shared_ptr<AutoDockingROS> auto_dock_;
  //AutoDockingROS auto_dock_;
  ecl::Thread update_thread_;
};

} //namespace kobuki
PLUGINLIB_EXPORT_CLASS(kobuki::AutoDockingNodelet, nodelet::Nodelet);