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robotino_ros_joints_plugin.cpp
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/***************************************************************************
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* robotino_ros_joints_plugin.cpp - Plugin to export ROS joint info
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*
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* Created: Fri Mar 30 10:52:22 2012
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* Copyright 2012 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#include <core/plugin.h>
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#include "ros_joints_thread.h"
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using namespace
fawkes;
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/** Plugin to publish Robotino joint info via ROS.
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* @author Tim Niemueller
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*/
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class
RobotinoRosJointsPlugin
:
public
fawkes::Plugin
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{
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public
:
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/** Constructor.
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* @param config Fawkes configuration
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*/
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RobotinoRosJointsPlugin
(
Configuration
*config)
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:
Plugin
(config)
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{
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thread_list.push_back(
new
RobotinoRosJointsThread
());
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}
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};
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PLUGIN_DESCRIPTION(
"Publish Robotino joint info via ROS (for model)"
)
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EXPORT_PLUGIN(
RobotinoRosJointsPlugin
)
src
plugins
robotino
robotino_ros_joints_plugin.cpp
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