Added functions Nodelet::ok() and Nodelet::requestStop().

Author: peci1

nodelet/include/nodelet/nodelet.h

@@ -234,6 +234,12 @@ class NODELETLIB_DECL Nodelet
             ros::CallbackQueueInterface* st_queue = NULL,
             ros::CallbackQueueInterface* mt_queue = NULL);
 
+  /**\brief Whether it is OK to continue working with this nodelet. This function starts returning true right
+   *        before onInit() is called and starts returning false when the nodelet is requested to unload.
+   * \return Status of the nodelet.
+   */
+  bool ok() const;
+
   virtual ~Nodelet();
 };
 

nodelet/src/nodelet_class.cpp

@@ -45,6 +45,7 @@ Nodelet::Nodelet ()
 
 Nodelet::~Nodelet()
 {
+  inited_ = false;
 }
 
 ros::CallbackQueueInterface& Nodelet::getSTCallbackQueue () const
@@ -134,4 +135,9 @@ void Nodelet::init(const std::string& name, const M_string& remapping_args, cons
   this->onInit ();
 }
 
+bool Nodelet::ok() const
+{
+  return inited_;
+}
+
 } // namespace nodelet