/** Nodelet initialization.
*
* @note MUST return immediately.
*/
void Bumblebee1394Nodelet::onInit()
{
ros::NodeHandle priv_nh(getPrivateNodeHandle());
ros::NodeHandle node(getNodeHandle());
ros::NodeHandle camera_nh(node, "bumblebee");
dvr_.reset(new bumblebee1394_driver::Bumblebee1394Driver(priv_nh, camera_nh));
dvr_->setup();
// spawn device thread
running_ = true;
deviceThread_ = boost::shared_ptr< boost::thread >
(new boost::thread(boost::bind(&Bumblebee1394Nodelet::devicePoll, this)));
}
/** Nodelet initialization.
*
* @note MUST return immediately.
*/
void MVCameraNodelet::onInit()
{
ros::NodeHandle priv_nh(getPrivateNodeHandle());
ros::NodeHandle node(getNodeHandle());
ros::NodeHandle camera_nh(node, "camera");
dvr_.reset(new mv_camera::MVCameraDriver(priv_nh, camera_nh));
dvr_->setup();
// spawn device thread
running_ = true;
deviceThread_ = boost::shared_ptr< boost::thread >
(new boost::thread(boost::bind(&MVCameraNodelet::devicePoll, this)));
}
/** Main node entry point. */
int main(int argc, char **argv)
{
ros::init(argc, argv, "camera1394_node");
ros::NodeHandle node;
ros::NodeHandle priv_nh("~");
ros::NodeHandle camera_nh("camera");
signal(SIGSEGV, &sigsegv_handler);
camera1394_driver::Camera1394Driver dvr(priv_nh, camera_nh);
dvr.setup();
while (node.ok())
{
dvr.poll();
ros::spinOnce();
}
dvr.shutdown();
return 0;
}
