From 22f4ede91ba8db7d2b26be4041bf8ad7ef2be6aa Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Mon, 14 Nov 2011 19:32:55 +0100
Subject: [PATCH] Add missing files.
---
src/ros_init.cpp | 24 ++++++++++++++++++++++++
src/ros_init.hh | 11 +++++++++++
2 files changed, 35 insertions(+)
create mode 100644 src/ros_init.cpp
create mode 100644 src/ros_init.hh
diff --git a/src/ros_init.cpp b/src/ros_init.cpp
new file mode 100644
index 0000000..8f21c05
--- /dev/null
+++ b/src/ros_init.cpp
@@ -0,0 +1,24 @@
+#include <boost/make_shared.hpp>
+#include <boost/shared_ptr.hpp>
+
+#include "ros_init.hh"
+
+namespace dynamicgraph
+{
+ boost::shared_ptr<ros::NodeHandle> nodeHandle;
+
+ ros::NodeHandle& rosInit()
+ {
+ if (!nodeHandle)
+ {
+ int argc = 1;
+ char* arg0 = strdup("dynamic_graph_bridge");
+ char* argv[] = {arg0, 0};
+ ros::init(argc, argv, "dynamic_graph_bridge");
+ free (arg0);
+
+ nodeHandle = boost::make_shared<ros::NodeHandle> ("dynamic_graph");
+ }
+ return *nodeHandle;
+ }
+} // end of namespace dynamicgraph.
diff --git a/src/ros_init.hh b/src/ros_init.hh
new file mode 100644
index 0000000..e7dea47
--- /dev/null
+++ b/src/ros_init.hh
@@ -0,0 +1,11 @@
+#ifndef ROS_INIT_HH
+# define ROS_INIT_HH
+# include <ros/ros.h>
+
+namespace dynamicgraph
+{
+ ros::NodeHandle& rosInit();
+
+} // end of namespace dynamicgraph.
+
+#endif //! ROS_INIT_HH
--
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