nodelet.cpp
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00001 /*
00002  * slam_gmapping
00003  * Copyright (c) 2008, Willow Garage, Inc.
00004  *
00005  * THE WORK (AS DEFINED BELOW) IS PROVIDED UNDER THE TERMS OF THIS CREATIVE
00006  * COMMONS PUBLIC LICENSE ("CCPL" OR "LICENSE"). THE WORK IS PROTECTED BY
00007  * COPYRIGHT AND/OR OTHER APPLICABLE LAW. ANY USE OF THE WORK OTHER THAN AS
00008  * AUTHORIZED UNDER THIS LICENSE OR COPYRIGHT LAW IS PROHIBITED.
00009  * 
00010  * BY EXERCISING ANY RIGHTS TO THE WORK PROVIDED HERE, YOU ACCEPT AND AGREE TO
00011  * BE BOUND BY THE TERMS OF THIS LICENSE. THE LICENSOR GRANTS YOU THE RIGHTS
00012  * CONTAINED HERE IN CONSIDERATION OF YOUR ACCEPTANCE OF SUCH TERMS AND
00013  * CONDITIONS.
00014  *
00015  */
00016 
00017 #include <ros/ros.h>
00018 #include <nodelet/nodelet.h>
00019 #include <pluginlib/class_list_macros.h>
00020 
00021 #include "slam_gmapping.h"
00022 
00023 class SlamGMappingNodelet : public nodelet::Nodelet
00024 {
00025   public:
00026     SlamGMappingNodelet()  {}
00027 
00028     ~SlamGMappingNodelet() {}
00029   
00030     virtual void onInit()
00031     {
00032       NODELET_INFO_STREAM("Initialising Slam GMapping nodelet...");
00033       sg_.reset(new SlamGMapping(getNodeHandle(), getPrivateNodeHandle()));
00034       NODELET_INFO_STREAM("Starting live SLAM...");
00035       sg_->startLiveSlam();
00036     }
00037 
00038   private:  
00039     boost::shared_ptr<SlamGMapping> sg_;
00040 };
00041 
00042 PLUGINLIB_EXPORT_CLASS(SlamGMappingNodelet, nodelet::Nodelet)


gmapping
Author(s): Brian Gerkey
autogenerated on Sat Jun 8 2019 19:40:33