Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * odometry_plugin.cpp - Plugin to publish odometry to ROS 00004 * 00005 * Created: Fri Jun 1 13:29:39 CEST 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 00024 #include "odometry_thread.h" 00025 00026 using namespace fawkes; 00027 00028 /** Plugin to publish odometry to ROS. */ 00029 class ROSOdometryPlugin : public fawkes::Plugin 00030 { 00031 public: 00032 /** Constructor. 00033 * @param config Fawkes configuration 00034 */ 00035 ROSOdometryPlugin(Configuration *config) 00036 : Plugin(config) 00037 { 00038 thread_list.push_back(new ROSOdometryThread()); 00039 } 00040 }; 00041 00042 PLUGIN_DESCRIPTION("Send odometry data to ROS") 00043 EXPORT_PLUGIN(ROSOdometryPlugin)