laser_nodelet.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
 
#ifndef LASER_ROS_LASER_NODELET_H_
#define LASER_ROS_LASER_NODELET_H_
 
 
#include <pluginlib/class_list_macros.h>
 
#include <ros/ros.h>
#include <ros/service_server.h>
 
 
#include <config_reader/config_reader.h>
#include <ff_hw_msgs/SetEnabled.h>
#include <ff_common/ff_names.h>
#include <ff_util/ff_nodelet.h>
 
#include <i2c/i2c_new.h>
#include <laser/laser.h>
#include <memory>
#include <stdexcept>
#include <string>
#include <system_error>  // NOLINT
 
namespace laser {
namespace ros {
 
class LaserNodelet : public ::ff_util::FreeFlyerNodelet {
 public:
  LaserNodelet();
  ~LaserNodelet();
  bool OnService(::ff_hw_msgs::SetEnabled::Request &req,
                 ::ff_hw_msgs::SetEnabled::Response &resp);
 
 protected:
  virtual void Initialize(::ros::NodeHandle *nh);
 
 private:
  using LaserPtr = std::unique_ptr<Laser>;
 
  LaserPtr laser_;
  ::ros::ServiceServer server_;
};
 
}  // namespace ros
}  // namespace laser
 
#endif  // LASER_ROS_LASER_NODELET_H_