Fawkes API Fawkes Development Version
ros.cpp
1
2/***************************************************************************
3 * ros.cpp - ROS aspect for Fawkes
4 *
5 * Created: Thu May 05 15:53:31 2011
6 * Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version. A runtime exception applies to
14 * this software (see LICENSE.GPL_WRE file mentioned below for details).
15 *
16 * This program is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Library General Public License for more details.
20 *
21 * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22 */
23
24#include <plugins/ros/aspect/ros.h>
25#include <ros/node_handle.h>
26
27namespace fawkes {
28
29/** @class ROSAspect <plugins/ros/aspect/ros.h>
30 * Thread aspect to get access to a ROS node handle.
31 * Give this aspect to your thread to interact with the central ROS
32 * node handle.
33 *
34 * @ingroup Aspects
35 * @author Tim Niemueller
36 */
37
38/** @var fawkes:LockPtr<ros::NodeHandle> ROSAspect::rosnode
39 * Central ROS node handle. Make sure you use proper locking in your
40 * application when using the class, or chaos and havoc will come upon you.
41 */
42
43/** Constructor. */
45{
46 add_aspect("ROSAspect");
47}
48
49/** Virtual empty destructor. */
51{
52}
53
54/** Init ROS aspect.
55 * This set the ROS node handle.
56 * It is guaranteed that this is called for an ROS Thread before start
57 * is called (when running regularly inside Fawkes).
58 * @param rosnode ROS node handle
59 */
60void
61ROSAspect::init_ROSAspect(LockPtr<ros::NodeHandle> rosnode)
62{
63 this->rosnode = rosnode;
64}
65
66/** Finalize ROS aspect.
67 * This clears the ROS node handle.
68 */
69void
70ROSAspect::finalize_ROSAspect()
71{
72 rosnode.clear();
73}
74
75} // end namespace fawkes
void add_aspect(const char *name)
Add an aspect to a thread.
Definition: aspect.cpp:49
void clear()
Set underlying instance to 0, decrementing reference count of existing instance appropriately.
Definition: lockptr.h:499
ROSAspect()
Constructor.
Definition: ros.cpp:44
LockPtr< ros::NodeHandle > rosnode
Central ROS node handle.
Definition: ros.h:47
virtual ~ROSAspect()
Virtual empty destructor.
Definition: ros.cpp:50
Fawkes library namespace.