void add_plugin(std::string pl_name) {
boost::shared_ptr<mavplugin::MavRosPlugin> plugin;
try {
plugin = plugin_loader.createInstance(pl_name);
plugin->initialize(mav_uas, node_handle, diag_updater);
loaded_plugins.push_back(plugin);
std::string repr_name = plugin->get_name();
ROS_INFO_STREAM("Plugin " << repr_name <<
" [alias " << pl_name << "] loaded and initialized");
std::vector<uint8_t> sup_msgs = plugin->get_supported_messages();
for (auto it = sup_msgs.begin();
it != sup_msgs.end();
++it) {
ROS_DEBUG("Route msgid %d to %s", *it, repr_name.c_str());
message_route_table[*it].connect(
boost::bind(&MavRosPlugin::message_rx_cb, plugin.get(), _1, _2, _3));
}
} catch (pluginlib::PluginlibException& ex) {
ROS_ERROR_STREAM("Plugin load exception: " << ex.what());
}
}
bool createHelper(string class_type, Classifier* &c)
{
try{
c = c_loader.createClassInstance(class_type);
}
catch(pluginlib::PluginlibException& ex){
ROS_ERROR("Classifer plugin failed to load! Error: %s", ex.what());
}
return true;
}
RefineAlgorithm* RefineAlgorithm::RefineAlgFactory(XMLTag* tag)
{
std::string name = tag->GetName();
RefineAlgorithm* alg = NULL;
try
{
alg = s_ref_alg_loader.createClassInstance(name);
alg->SetData(tag);
}
catch(pluginlib::PluginlibException& ex)
{
//handle the class failing to load
printf("RefineAlgorithm: The plugin failed to load for some reason. Error: %s\n", ex.what());
printf("RefineAlgorithm: Tag failed: %s\n", tag->GetName().c_str());
}
return alg;
}