Class NodeletManager

• Defined in File nodelet_manager.h

Inheritance Relationships

Derived Type

• public cras::NodeletManagerSharingTfBuffer (Class NodeletManagerSharingTfBuffer)

Class Documentation

class NodeletManager

Nodelet manager with customizable instance creation mechanism.

The standard usage of this class is creating its instance, calling init() and then ros::spin().

Subclassed by cras::NodeletManagerSharingTfBuffer

Public Functions

explicit NodeletManager(::ros::NodeHandle nh = {"~"})

Create the nodelet manager.

Parameters:

nh – [in] The nodehandle used for nodelet load/unload ROS services.

virtual void init()

Initialize all class members.

Protected Types

typedef ::pluginlib::ClassLoader<::nodelet::Nodelet> ClassLoader

Type of the class loader used for loading nodelets.

Protected Functions

::boost::shared_ptr<::nodelet::Nodelet> createInstance(const ::std::string &lookupName)

Create an instance of the given type.

Parameters:

lookupName – [in] The type to create instance of.

Returns:

The instance (or nullptr if creation failed).

Protected Attributes

::std::unique_ptr<ClassLoader> classLoader

Class loader used for loading nodelets.

::std::unique_ptr<::nodelet::Loader> loader

Nodelet loader that loads and runs the nodelets.

::std::unique_ptr<::cras::LoaderROS> loaderRos

ROS API for the nodelet manager.

::ros::NodeHandle nh

Node handle for the ROS API services.