vesc_to_odom_nodelet.cpp

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// Copyright 2020 F1TENTH Foundation
//
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// provided that the following conditions are met:
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#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include <ros/ros.h>

#include <memory>

#include "vesc_ackermann/vesc_to_odom.h"

namespace vesc_ackermann
{

class VescToOdomNodelet: public nodelet::Nodelet
{
public:
  VescToOdomNodelet() {}

private:
  virtual void onInit(void);

  std::shared_ptr<VescToOdom> vesc_to_odom_;
};  // class VescToOdomNodelet

void VescToOdomNodelet::onInit()
{
  NODELET_DEBUG("Initializing RACECAR VESC odometry estimator nodelet");
  vesc_to_odom_.reset(new VescToOdom(getNodeHandle(), getPrivateNodeHandle()));
}

}  // namespace vesc_ackermann

PLUGINLIB_EXPORT_CLASS(vesc_ackermann::VescToOdomNodelet, nodelet::Nodelet);