00001 /* 00002 * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin 00003 * License: Modified BSD Software License Agreement 00004 * 00005 * $Id$ 00006 */ 00007 00016 #include <ros/ros.h> 00017 #include <pluginlib/class_list_macros.h> 00018 #include <nodelet/nodelet.h> 00019 00020 #include "colors.h" 00021 00022 namespace velodyne_pointcloud 00023 { 00024 class RingColorsNodelet: public nodelet::Nodelet 00025 { 00026 public: 00027 00028 RingColorsNodelet() {} 00029 ~RingColorsNodelet() {} 00030 00031 private: 00032 00033 virtual void onInit(); 00034 boost::shared_ptr<RingColors> colors_; 00035 }; 00036 00038 void RingColorsNodelet::onInit() 00039 { 00040 colors_.reset(new RingColors(getNodeHandle(), getPrivateNodeHandle())); 00041 } 00042 00043 } // namespace velodyne_pointcloud 00044 00045 00046 // Register this plugin with pluginlib. Names must match nodelet_velodyne.xml. 00047 // 00048 // parameters: package, class name, class type, base class type 00049 PLUGINLIB_DECLARE_CLASS(velodyne_pointcloud, RingColorsNodelet, 00050 velodyne_pointcloud::RingColorsNodelet, nodelet::Nodelet);