stcamera_nodelet.cpp

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#include "omronsentech_camera/stcamera_nodelet.h"

namespace stcamera
{
  StCameraNodelet::StCameraNodelet():running_(false)
  {
  }

  StCameraNodelet::~StCameraNodelet()
  {
    if (running_)
    {
      NODELET_INFO("Shutting down");
      running_ = false;
      spinThread_->join();
      NODELET_INFO("Shutting down complete");
    }
  }

  void StCameraNodelet::onInit()
  {
    ros::NodeHandle nh = this->getPrivateNodeHandle();
    node_.reset(new StCameraNode(nh));

    running_ = true;
    spinThread_ = boost::shared_ptr< boost::thread >
      (new boost::thread(boost::bind(&StCameraNodelet::spinFunc, this)));
  };

  void StCameraNodelet::spinFunc()
  {
    ros::Rate r(1);
    while(running_)
    {
      node_->spin();
      r.sleep();
    }
  }
}
PLUGINLIB_EXPORT_CLASS(stcamera::StCameraNodelet, nodelet::Nodelet);