<commit_before>#include "../include/plane_calibration/plane_calibration_nodelet.hpp"

#include <pluginlib/class_list_macros.h>

namespace plane_calibration
{
PlaneCalibrationNodelet::PlaneCalibrationNodelet()
{
  debug_ = false;
}

void PlaneCalibrationNodelet::onInit()
{
  ROS_INFO("[PlaneCalibrationNodelet]: Initializing");

  reconfigure_server_ = std::shared_ptr<dynamic_reconfigure::Server<PlaneCalibrationConfig> >(
      new dynamic_reconfigure::Server<PlaneCalibrationConfig>());
  dynamic_reconfigure::Server<PlaneCalibrationConfig>::CallbackType reconfigure_cb = boost::bind(
      &PlaneCalibrationNodelet::reconfigureCB, this, _1, _2);
  reconfigure_server_->setCallback(reconfigure_cb);

  ROS_INFO("[PlaneCalibrationNodelet]: Initialization finished");
}

void PlaneCalibrationNodelet::reconfigureCB(PlaneCalibrationConfig &config, uint32_t level)
{
  debug_ = config.debug;
}
} /* end namespace */

PLUGINLIB_EXPORT_CLASS(plane_calibration::PlaneCalibrationNodelet, nodelet::Nodelet)
<commit_msg>Debug toggle message<commit_after>#include "../include/plane_calibration/plane_calibration_nodelet.hpp"

#include <pluginlib/class_list_macros.h>

namespace plane_calibration
{
PlaneCalibrationNodelet::PlaneCalibrationNodelet()
{
  debug_ = false;
}

void PlaneCalibrationNodelet::onInit()
{
  ROS_INFO("[PlaneCalibrationNodelet]: Initializing");

  reconfigure_server_ = std::shared_ptr<dynamic_reconfigure::Server<PlaneCalibrationConfig> >(
      new dynamic_reconfigure::Server<PlaneCalibrationConfig>());
  dynamic_reconfigure::Server<PlaneCalibrationConfig>::CallbackType reconfigure_cb = boost::bind(
      &PlaneCalibrationNodelet::reconfigureCB, this, _1, _2);
  reconfigure_server_->setCallback(reconfigure_cb);

  ROS_INFO("[PlaneCalibrationNodelet]: Initialization finished");
}

void PlaneCalibrationNodelet::reconfigureCB(PlaneCalibrationConfig &config, uint32_t level)
{
  if (debug_ != config.debug)
  {
    debug_ = config.debug;
    ROS_INFO_STREAM("[PlaneCalibrationNodelet]: Debug " << debug_ ? "enabled" : "disabled");
  }
}

} /* end namespace */

PLUGINLIB_EXPORT_CLASS(plane_calibration::PlaneCalibrationNodelet, nodelet::Nodelet)

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