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[nodelet] Public api to check nodelet is initialized #34

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[nodelet] Public api to check nodelet is initialized #34

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3 changes: 3 additions & 0 deletions nodelet/include/nodelet/nodelet.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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7 changes: 6 additions & 1 deletion nodelet/src/nodelet_class.cpp
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Expand Up @@ -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)
{
Expand All @@ -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