Fawkes API  Fawkes Development Version
navigator_plugin.cpp
00001 
00002 /***************************************************************************
00003  *  navigator_plugin.cpp - Robotino ROS Navigator Plugin
00004  *
00005  *  Created: Sat June 09 15:13:27 2012
00006  *  Copyright  2012  Sebastian Reuter
00007  ****************************************************************************/
00008 
00009 /*  This program is free software; you can redistribute it and/or modify
00010  *  it under the terms of the GNU General Public License as published by
00011  *  the Free Software Foundation; either version 2 of the License, or
00012  *  (at your option) any later version.
00013  *
00014  *  This program is distributed in the hope that it will be useful,
00015  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00016  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00017  *  GNU Library General Public License for more details.
00018  *
00019  *  Read the full text in the LICENSE.GPL file in the doc directory.
00020  */
00021 
00022 #include <core/plugin.h>
00023 #include "navigator_thread.h"
00024 
00025 using namespace fawkes;
00026 
00027 /** Send locomotion commands to ROS.
00028  * @author Sebastian Reuter
00029  */
00030 class RosNavigatorPlugin : public fawkes::Plugin
00031 {
00032  public:
00033   /** Constructor.
00034    * @param config Fawkes configuration
00035    */
00036   RosNavigatorPlugin(Configuration *config)
00037     : Plugin(config)
00038   {
00039     thread_list.push_back(new RosNavigatorThread());
00040   }
00041 };
00042 
00043 PLUGIN_DESCRIPTION("Send locomotion commands to ROS")
00044 EXPORT_PLUGIN(RosNavigatorPlugin)