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kobuki_nodelet.cpp
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kobuki_nodelet.cpp
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/*
* Copyright (c) 2012, Yujin Robot.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of Yujin Robot nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/**
* @file /kobuki_node/src/nodelet/kobuki_nodelet.cpp
*
* @brief Implementation for the ROS Kobuki nodelet
**/
/*****************************************************************************
** Includes
*****************************************************************************/
#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include <ecl/threads/thread.hpp>
#include "kobuki_node/kobuki_ros.hpp"
namespace kobuki
{
class KobukiNodelet : public nodelet::Nodelet
{
public:
KobukiNodelet() : shutdown_requested_(false) {};
~KobukiNodelet()
{
NODELET_DEBUG_STREAM("Kobuki : waiting for update thread to finish.");
shutdown_requested_ = true;
update_thread_.join();
}
virtual void onInit()
{
NODELET_DEBUG_STREAM("Kobuki : initialising nodelet...");
std::string nodelet_name = this->getName();
kobuki_.reset(new KobukiRos(nodelet_name));
// if there are latency issues with callbacks, we might want to move to process callbacks in multiple threads (use MTPrivateNodeHandle)
if (kobuki_->init(this->getPrivateNodeHandle(), this->getNodeHandle()))
{
update_thread_.start(&KobukiNodelet::update, *this);
NODELET_INFO_STREAM("Kobuki : initialised.");
}
else
{
NODELET_ERROR_STREAM("Kobuki : could not initialise! Please restart.");
}
}
private:
void update()
{
ros::Rate spin_rate(10);
while (!shutdown_requested_ && ros::ok() && kobuki_->update())
{
spin_rate.sleep();
}
}
boost::shared_ptr<KobukiRos> kobuki_;
ecl::Thread update_thread_;
bool shutdown_requested_;
};
} // namespace kobuki
PLUGINLIB_EXPORT_CLASS(kobuki::KobukiNodelet, nodelet::Nodelet);