From 11d11241e62f98259396e858e48a45e6874c10f4 Mon Sep 17 00:00:00 2001
From: Kentaro Wada <www.kentaro.wada@gmail.com>
Date: Thu, 12 Nov 2015 04:23:13 +0900
Subject: [PATCH] [nodelet] Public api to check nodelet is initialized

---
 nodelet/include/nodelet/nodelet.h | 3 +++
 nodelet/src/nodelet_class.cpp     | 7 ++++++-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/nodelet/include/nodelet/nodelet.h b/nodelet/include/nodelet/nodelet.h
index 5e330110..07714699 100644
--- a/nodelet/include/nodelet/nodelet.h
+++ b/nodelet/include/nodelet/nodelet.h
@@ -218,6 +218,9 @@ class Nodelet
   /**\brief Empty constructor required for dynamic loading */
   Nodelet();
 
+  /**\brief Whether the nodelet is initialized */
+  bool is_initialized();
+
   /**\brief Init function called at startup
    * \param name The name of the nodelet
    * \param remapping_args The remapping args in a map for the nodelet
diff --git a/nodelet/src/nodelet_class.cpp b/nodelet/src/nodelet_class.cpp
index 088e856b..b64a906c 100644
--- a/nodelet/src/nodelet_class.cpp
+++ b/nodelet/src/nodelet_class.cpp
@@ -104,6 +104,11 @@ ros::NodeHandle& Nodelet::getMTPrivateNodeHandle() const
   return *mt_private_nh_;
 }
 
+bool Nodelet::is_initialized()
+{
+  return inited_;
+}
+
 void Nodelet::init(const std::string& name, const M_string& remapping_args, const V_string& my_argv,
                    ros::CallbackQueueInterface* st_queue, ros::CallbackQueueInterface* mt_queue)
 {
@@ -129,8 +134,8 @@ void Nodelet::init(const std::string& name, const M_string& remapping_args, cons
   mt_nh_->setCallbackQueue(mt_queue);
   
   NODELET_DEBUG ("Nodelet initializing");
-  inited_ = true;
   this->onInit ();
+  inited_ = true;
 }
 
 } // namespace nodelet