info.cpp
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00001 /*
00002  * Copyright 2015 Aldebaran
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016 */
00017 
00018 /*
00019 * LOCAL includes
00020 */
00021 #include "info.hpp"
00022 #include "../tools/robot_description.hpp"
00023 
00024 namespace naoqi
00025 {
00026 namespace publisher
00027 {
00028 
00029 InfoPublisher::InfoPublisher(const std::string& topic , const robot::Robot& robot_type)
00030   : BasicPublisher( topic ),
00031     robot_(robot_type)
00032 {
00033 }
00034 
00035 void InfoPublisher::reset( ros::NodeHandle& nh )
00036 {
00037   // We latch as we only publish once
00038   pub_ = nh.advertise<naoqi_bridge_msgs::StringStamped>( topic_, 1, true );
00039 
00040   std::string robot_desc = naoqi::tools::getRobotDescription(robot_);
00041   nh.setParam("/robot_description", robot_desc);
00042   std::cout << "load robot description from file" << std::endl;
00043 
00044   is_initialized_ = true;
00045 }
00046 
00047 } // publisher
00048 } //naoqi


naoqi_driver
Author(s): Karsten Knese
autogenerated on Sun Sep 17 2017 02:57:14