From 17278dc32bc58dac01eeb84353e605ba439963e5 Mon Sep 17 00:00:00 2001
From: Franz Bethke <bethke@math.hu-berlin.de>
Date: Mon, 12 Feb 2018 15:00:38 +0100
Subject: [PATCH] Add missing camera files
---
.../catkin_ws/src/car/include/camera/camera.h | 24 +++++++++++++++
.../catkin_ws/src/car/src/camera/camera.cpp | 30 +++++++++++++++++++
2 files changed, 54 insertions(+)
create mode 100644 modules/catkin_ws/src/car/include/camera/camera.h
create mode 100644 modules/catkin_ws/src/car/src/camera/camera.cpp
diff --git a/modules/catkin_ws/src/car/include/camera/camera.h b/modules/catkin_ws/src/car/include/camera/camera.h
new file mode 100644
index 00000000..6d86a308
--- /dev/null
+++ b/modules/catkin_ws/src/car/include/camera/camera.h
@@ -0,0 +1,24 @@
+#ifndef CAMERA_H
+#define CAMERA_H
+
+#include <nodelet/nodelet.h>
+#include <ros/ros.h>
+#include "boost/thread.hpp"
+
+namespace car
+{
+ class Camera : public nodelet::Nodelet
+ {
+ public:
+ virtual void onInit();
+ Camera(ros::NodeHandle &nh, std::string &name);
+ Camera();
+ ~Camera();
+ private:
+ ros::NodeHandle nh_;
+ std::string name_;
+ ros::Publisher camData;
+ boost::thread main;
+ };
+}
+#endif
diff --git a/modules/catkin_ws/src/car/src/camera/camera.cpp b/modules/catkin_ws/src/car/src/camera/camera.cpp
new file mode 100644
index 00000000..699b1810
--- /dev/null
+++ b/modules/catkin_ws/src/car/src/camera/camera.cpp
@@ -0,0 +1,30 @@
+#include <pluginlib/class_list_macros.h>
+#include <ros/ros.h>
+
+#include "camera/camera.h"
+
+#include "car/camDataMsg.h"
+
+PLUGINLIB_EXPORT_CLASS(car::Camera, nodelet::Nodelet);
+
+namespace car
+{
+ Camera::Camera(ros::NodeHandle &nh, std::string &name) : nh_(nh), name_(name) {}
+ Camera::Camera() {}
+ Camera::~Camera() {}
+ void Camera::onInit()
+ {
+ NODELET_INFO("Camera::onInit -- START");
+ camData = nh_.advertise<camDataMsg>("camData", 1);
+ main = boost::thread([this] () {
+ ros::Rate rate{1};
+ while(ros::ok()) {
+ camDataMsg msg;
+ camData.publish(msg);
+ rate.sleep();
+ }
+ });
+
+ NODELET_INFO("Camera::onInit -- END");
+ }
+}
--
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