From 0251c02fd7d9aea013e9f57e99ea3c030f46cf37 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Thu, 12 Feb 2015 11:55:18 +0000
Subject: [PATCH] Improved the nodelet implementation.
---
src/firewire_camera_driver_nodelet.cpp | 19 ++++++++++---------
1 file changed, 10 insertions(+), 9 deletions(-)
diff --git a/src/firewire_camera_driver_nodelet.cpp b/src/firewire_camera_driver_nodelet.cpp
index 1e0adac..93221ed 100755
--- a/src/firewire_camera_driver_nodelet.cpp
+++ b/src/firewire_camera_driver_nodelet.cpp
@@ -1,8 +1,10 @@
#include "firewire_camera_driver_nodelet.h"
#include <pluginlib/class_list_macros.h>
-FirewireCameraDriverNode::FirewireCameraDriverNode(ros::NodeHandle &nh) : iri_base_driver::IriBaseNodeDriver<FirewireCameraDriver>(nh), camera_manager(ros::NodeHandle(this->public_node_handle_)),
- it(new image_transport::ImageTransport(this->public_node_handle_)),Image_msg_(new sensor_msgs::Image)
+FirewireCameraDriverNode::FirewireCameraDriverNode(ros::NodeHandle &nh) : iri_base_driver::IriBaseNodeDriver<FirewireCameraDriver>(nh),
+ camera_manager(ros::NodeHandle(this->public_node_handle_)),
+ it(new image_transport::ImageTransport(this->public_node_handle_)),
+ Image_msg_(new sensor_msgs::Image)
{
std::string cal_file;
@@ -201,17 +203,16 @@ FirewireCameraDriverNode::~FirewireCameraDriverNode()
FirewireCameraNodelet::FirewireCameraNodelet()
{
this->dev=NULL;
- // initialize the thread
- this->thread_server=CThreadServer::instance();
- this->spin_thread_id="firewire_camera_driver_nodelet_spin";
- this->thread_server->create_thread(this->spin_thread_id);
- this->thread_server->attach_thread(this->spin_thread_id,this->spin_thread,this);
}
void FirewireCameraNodelet::onInit()
{
- ros::NodeHandle priv_nh(getPrivateNodeHandle());
- this->dev=new FirewireCameraDriverNode(priv_nh);
+ this->dev=new FirewireCameraDriverNode(getPrivateNodeHandle());
+ // initialize the thread
+ this->thread_server=CThreadServer::instance();
+ this->spin_thread_id=getName() + "_camera_driver_nodelet_spin";
+ this->thread_server->create_thread(this->spin_thread_id);
+ this->thread_server->attach_thread(this->spin_thread_id,this->spin_thread,this);
// start the spin thread
this->thread_server->start_thread(this->spin_thread_id);
}
--
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