add executable to load image_rotate/image_rotate nodelet.

add xml file to export nodelet definition.

Conflicts:
	image_rotate/package.xml

image_rotate/CMakeLists.txt

@@ -20,9 +20,17 @@ include_directories(SYSTEM ${catkin_INCLUDE_DIRS}
 add_library(${PROJECT_NAME} SHARED src/nodelet/image_rotate_nodelet.cpp)
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
 add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
+install(TARGETS image_rotate
+        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+add_executable(image_rotate_exe src/node/image_rotate.cpp)
+SET_TARGET_PROPERTIES(image_rotate_exe PROPERTIES OUTPUT_NAME image_rotate)
+target_link_libraries(image_rotate_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
 
-install(TARGETS ${PROJECT_NAME}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+install(TARGETS image_rotate_exe
+        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(FILES nodelet_plugins.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

image_rotate/nodelet_plugins.xml

@@ -0,0 +1,7 @@
+<library path="lib/libimage_rotate">
+
+  <class name="image_rotate/image_rotate" type="image_rotate::ImageRotateNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet to rotate sensor_msgs/Image</description>
+  </class>
+
+</library>

image_rotate/package.xml

@@ -52,4 +52,7 @@
   <run_depend>tf2</run_depend>
   <run_depend>tf2_geometry_msgs</run_depend>
   <run_depend>tf2_ros</run_depend>
+  <export>
+    <nodelet plugin="${prefix}/nodelet_plugins.xml"/>
+  </export>
 </package>

image_rotate/src/node/image_rotate.cpp

@@ -0,0 +1,54 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+* 
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+* 
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+* 
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+* 
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+#include <ros/ros.h>
+#include <nodelet/loader.h>
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "image_rotate", ros::init_options::AnonymousName);
+  if (ros::names::remap("image") == "image") {
+    ROS_WARN("Topic 'image' has not been remapped! Typical command-line usage:\n"
+             "\t$ rosrun image_rotate image_rotate image:=<image topic> [transport]");
+  }
+
+  nodelet::Loader manager(false);
+  nodelet::M_string remappings;
+  nodelet::V_string my_argv(argv + 1, argv + argc);
+  my_argv.push_back("--shutdown-on-close"); // Internal
+
+  manager.load(ros::this_node::getName(), "image_rotate/image_rotate", remappings, my_argv);
+
+  ros::spin();
+  return 0;
+}