nodelet_manager.h

Go to the documentation of this file.

#pragma once
 
#include <memory>
#include <string>
 
#include <boost/shared_ptr.hpp>
 
#include <nodelet/loader.h>
#include <nodelet/nodelet.h>
#include <pluginlib/class_loader.h>
#include <ros/node_handle.h>
 
#include <cras_cpp_common/nodelet_utils/loader_ros.h>
 
namespace cras
{
 
class NodeletManager
{
public:
  explicit NodeletManager(::ros::NodeHandle nh = {"~"});
 
  virtual void init();
 
protected:
  virtual ::boost::shared_ptr<::nodelet::Nodelet> createInstance(const ::std::string& lookupName);
 
  typedef ::pluginlib::ClassLoader<::nodelet::Nodelet> ClassLoader;
 
  ::std::unique_ptr<ClassLoader> classLoader;
 
  // loader has to be declared after classLoader, otherwise we get class_loader SEVERE_WARNING
  // about leaving managed instances in memory
  ::std::unique_ptr<::nodelet::Loader> loader;
 
  ::std::unique_ptr<::cras::LoaderROS> loaderRos;
 
  ::ros::NodeHandle nh;
};
 
}