Fawkes API  Fawkes Development Version
robotino_ros_joints_plugin.cpp
00001 
00002 /***************************************************************************
00003  *  robotino_ros_joints_plugin.cpp - Plugin to export ROS joint info
00004  *
00005  *  Created: Fri Mar 30 10:52:22 2012
00006  *  Copyright  2012  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #include <core/plugin.h>
00024 
00025 #include "ros_joints_thread.h"
00026 
00027 using namespace fawkes;
00028 
00029 /** Plugin to publish Robotino joint info via ROS.
00030  * @author Tim Niemueller
00031  */
00032 class RobotinoRosJointsPlugin : public fawkes::Plugin
00033 {
00034  public:
00035   /** Constructor.
00036    * @param config Fawkes configuration
00037    */
00038   RobotinoRosJointsPlugin(Configuration *config)
00039     : Plugin(config)
00040   {
00041     thread_list.push_back(new RobotinoRosJointsThread());
00042   }
00043 };
00044 
00045 PLUGIN_DESCRIPTION("Publish Robotino joint info via ROS (for model)")
00046 EXPORT_PLUGIN(RobotinoRosJointsPlugin)