Fawkes API  Fawkes Development Version
joint_plugin.cpp
1 
2 /***************************************************************************
3  * joint_plugin.cpp - Publish JointStates to ROS
4  *
5  * Created: Wed Sep 25 18:27:26 2013
6  * Copyright 2013 Till Hofmann
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.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #include <core/plugin.h>
24 
25 #include "joint_thread.h"
26 
27 using namespace fawkes;
28 
29 /** Plugin publish JointStates to ROS
30  * @author Till Hofmann
31  */
33 {
34  public:
35  /** Constructor.
36  * @param config Fawkes configuration
37  */
39  : Plugin(config)
40  {
41  thread_list.push_back(new RosJointThread());
42  }
43 };
44 
45 PLUGIN_DESCRIPTION("ROS JointState Plugin")
46 EXPORT_PLUGIN(RosJointPlugin)
Plugin interface class.
Definition: plugin.h:33
Fawkes library namespace.
Thread to publish JointStates to ROS.
Definition: joint_thread.h:41
Plugin publish JointStates to ROS.
RosJointPlugin(Configuration *config)
Constructor.
Interface for configuration handling.
Definition: config.h:67