Fawkes API  Fawkes Development Version
odometry_plugin.cpp
1 
2 /***************************************************************************
3  * odometry_plugin.cpp - Plugin to publish odometry to ROS
4  *
5  * Created: Fri Jun 1 13:29:39 CEST
6  * Copyright 2012 Sebastian Reuter
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #include <core/plugin.h>
23 
24 #include "odometry_thread.h"
25 
26 using namespace fawkes;
27 
28 /** Plugin to publish odometry to ROS. */
30 {
31  public:
32  /** Constructor.
33  * @param config Fawkes configuration
34  */
36  : Plugin(config)
37  {
38  thread_list.push_back(new ROSOdometryThread());
39  }
40 };
41 
42 PLUGIN_DESCRIPTION("Send odometry data to ROS")
43 EXPORT_PLUGIN(ROSOdometryPlugin)
Plugin interface class.
Definition: plugin.h:33
Fawkes library namespace.
Plugin to publish odometry to ROS.
ROSOdometryPlugin(Configuration *config)
Constructor.
Thread to publish odometry to ROS.
Interface for configuration handling.
Definition: config.h:67