// Copyright (C) 2018, 2019 Kevin Hallenbeck, Joshua Whitley // All rights reserved. // // Software License Agreement (BSD License 2.0) // // 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 {copyright_holder} 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. #include <ros/ros.h> #include <pluginlib/class_list_macros.h> #include <nodelet/nodelet.h> #include "velodyne_laserscan/velodyne_laserscan.h" namespace velodyne_laserscan { class LaserScanNodelet: public nodelet::Nodelet { public: LaserScanNodelet() {} ~LaserScanNodelet() {} private: virtual void onInit() { node_.reset(new VelodyneLaserScan(getNodeHandle(), getPrivateNodeHandle())); } boost::shared_ptr<VelodyneLaserScan> node_; }; } // namespace velodyne_laserscan PLUGINLIB_EXPORT_CLASS(velodyne_laserscan::LaserScanNodelet, nodelet::Nodelet);