diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 1132a219c4f00fdb37c4f73ebd7db149ddc183b5..d57959a1273ad51bf3bf30e00755851c081d9110 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,11 @@
Changelog for package homer_map_manager
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+1.0.14 (2015-12-05)
+-------------------
+* moved header files to include directory
+* Contributors: Niklas Yann Wettengel
+
1.0.13 (2015-12-04)
-------------------
* fixed CMakeLists
diff --git a/CMakeLists.txt b/CMakeLists.txt
index aba47b25370e19d5990008deb3dd270eb098f7a9..74a2a597d1a74d4458a6cab687dc6bc6285b8e36 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,9 +20,11 @@ catkin_package(
homer_mapnav_msgs
homer_nav_libs
std_srvs
+ INCLUDE_DIRS include
)
include_directories(
+ include
${catkin_INCLUDE_DIRS}
${EIGEN_INCLUDE_DIRS}
)
@@ -44,3 +46,6 @@ add_dependencies(
${catkin_EXPORTED_TARGETS}
homer_mapnav_msgs_gencpp
)
+
+install(TARGETS map_manager DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+install(DIRECTORY include/homer_map_manager/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
diff --git a/debian/changelog b/debian/changelog
deleted file mode 100644
index 101d3d0a7ea24cdc8092d16a31ea6c3549183531..0000000000000000000000000000000000000000
--- a/debian/changelog
+++ /dev/null
@@ -1,96 +0,0 @@
-ros-indigo-homer-map-manager (1.0.13-0saucy) saucy; urgency=high
-
- * fixed CMakeLists
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Thu, 03 Dec 2015 23:00:00 -0000
-
-ros-indigo-homer-map-manager (1.0.12-0saucy) saucy; urgency=high
-
- * fixed yaml-cpp saucy error
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Wed, 02 Dec 2015 23:00:00 -0000
-
-ros-indigo-homer-map-manager (1.0.11-0saucy) saucy; urgency=high
-
- * added std_srvs dependency
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Tue, 01 Dec 2015 23:00:00 -0000
-
-ros-indigo-homer-map-manager (1.0.10-0saucy) saucy; urgency=high
-
- * added yaml-cpp dependency
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Tue, 01 Dec 2015 23:00:00 -0000
-
-ros-indigo-homer-map-manager (1.0.9-0saucy) saucy; urgency=high
-
- * added sdl-image dependency
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Mon, 30 Nov 2015 23:00:00 -0000
-
-ros-indigo-homer-map-manager (1.0.8-0saucy) saucy; urgency=high
-
- * added sdl dependency
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Sun, 29 Nov 2015 23:00:00 -0000
-
-ros-indigo-homer-map-manager (1.0.7-0saucy) saucy; urgency=high
-
- * updated changelog
- * updated catkin_depends
- * Contributors: Niklas Yann Wettengel
- * updated catkin_depends
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Fri, 27 Nov 2015 23:00:00 -0000
-
-ros-indigo-homer-map-manager (1.0.6-0saucy) saucy; urgency=high
-
- * removed env HOMER_DIR from CMakeLists.txt
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Thu, 26 Nov 2015 23:00:00 -0000
-
-ros-indigo-homer-map-manager (1.0.5-0saucy) saucy; urgency=high
-
-
-
- -- Viktor Seib <vseib@uni-koblenz.de> Mon, 23 Nov 2015 23:00:00 -0000
-
-ros-indigo-homer-map-manager (1.0.4-0saucy) saucy; urgency=high
-
- * changed build dependency from libeigen3-dev to eigen
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Thu, 19 Nov 2015 23:00:00 -0000
-
-ros-indigo-homer-map-manager (1.0.3-0saucy) saucy; urgency=high
-
- * added libeigen3-dev build dependency
- * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de> Thu, 19 Nov 2015 23:00:00 -0000
-
-ros-indigo-homer-map-manager (1.0.2-0saucy) saucy; urgency=high
-
- * added Maintainers
- * added cmake_modules build dependency
- * added raphael as maintainer
- * Contributors: Niklas Yann Wettengel, Raphael Memmesheimer
-
- -- Viktor Seib <vseib@uni-koblenz.de> Thu, 19 Nov 2015 23:00:00 -0000
-
-ros-indigo-homer-map-manager (1.0.1-0saucy) saucy; urgency=high
-
- * init
- * Contributors: Raphael Memmesheimer
-
- -- Viktor Seib <vseib@uni-koblenz.de> Mon, 07 Sep 2015 22:00:00 -0000
-
-
diff --git a/debian/changelog.em b/debian/changelog.em
new file mode 100644
index 0000000000000000000000000000000000000000..f288616383fe8f4543f2eb312541c6588cb3d96c
--- /dev/null
+++ b/debian/changelog.em
@@ -0,0 +1,7 @@
+@[for change_version, change_date, changelog, main_name, main_email in changelogs]@(Package) (@(change_version)-@(DebianInc)@(Distribution)) @(Distribution); urgency=high
+
+@(changelog)
+
+ -- @(main_name) <@(main_email)> @(change_date)
+
+@[end for]
diff --git a/debian/compat b/debian/compat
deleted file mode 100644
index f11c82a4cb6cc2e8f3bdf52b5cdeaad4d5bb214e..0000000000000000000000000000000000000000
--- a/debian/compat
+++ /dev/null
@@ -1 +0,0 @@
-9
\ No newline at end of file
diff --git a/debian/compat.em b/debian/compat.em
new file mode 100644
index 0000000000000000000000000000000000000000..b7f8528bffbd06395de8fb99042c25b1448f311a
--- /dev/null
+++ b/debian/compat.em
@@ -0,0 +1 @@
+@(debhelper_version)
\ No newline at end of file
diff --git a/debian/control b/debian/control
deleted file mode 100644
index 220fab3fb62736397411d2a53f33652929cf315c..0000000000000000000000000000000000000000
--- a/debian/control
+++ /dev/null
@@ -1,12 +0,0 @@
-Source: ros-indigo-homer-map-manager
-Section: misc
-Priority: extra
-Maintainer: Viktor Seib <vseib@uni-koblenz.de>
-Build-Depends: debhelper (>= 9.0.0), libeigen3-dev, libsdl-image1.2-dev, libsdl1.2-dev, libyaml-cpp-dev, ros-indigo-catkin, ros-indigo-cmake-modules, ros-indigo-homer-mapnav-msgs, ros-indigo-homer-nav-libs, ros-indigo-roscpp, ros-indigo-roslib, ros-indigo-std-srvs, ros-indigo-tf
-Homepage:
-Standards-Version: 3.9.2
-
-Package: ros-indigo-homer-map-manager
-Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, libeigen3-dev, libsdl-image1.2-dev, libsdl1.2-dev, libyaml-cpp-dev, ros-indigo-homer-mapnav-msgs, ros-indigo-homer-nav-libs, ros-indigo-roscpp, ros-indigo-roslib, ros-indigo-std-srvs, ros-indigo-tf
-Description: map_manager
diff --git a/debian/control.em b/debian/control.em
new file mode 100644
index 0000000000000000000000000000000000000000..175af208d9931515177f02e33d74396ca7226cc0
--- /dev/null
+++ b/debian/control.em
@@ -0,0 +1,14 @@
+Source: @(Package)
+Section: misc
+Priority: extra
+Maintainer: @(Maintainer)
+Build-Depends: debhelper (>= @(debhelper_version).0.0), @(', '.join(BuildDepends))
+@[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
+@[if Replaces]Replaces: @(', '.join(Replaces))@\n@[end if]@
+Homepage: @(Homepage)
+Standards-Version: 3.9.2
+
+Package: @(Package)
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(Depends))
+Description: @(Description)
diff --git a/debian/gbp.conf b/debian/gbp.conf
deleted file mode 100644
index 92798ad17dba6c7048cb1db0f26d62c8497abca0..0000000000000000000000000000000000000000
--- a/debian/gbp.conf
+++ /dev/null
@@ -1,3 +0,0 @@
-[git-buildpackage]
-upstream-tag=release/indigo/homer_map_manager/1.0.13-0
-upstream-tree=tag
diff --git a/debian/gbp.conf.em b/debian/gbp.conf.em
new file mode 100644
index 0000000000000000000000000000000000000000..ad24a164d06a7971a9dcca990e935fea39b6ce88
--- /dev/null
+++ b/debian/gbp.conf.em
@@ -0,0 +1,3 @@
+[git-buildpackage]
+upstream-tag=@(release_tag)
+upstream-tree=tag
diff --git a/debian/rules b/debian/rules.em
similarity index 76%
rename from debian/rules
rename to debian/rules.em
index f599e209316077462f1d30ee8fa37f84a4e58737..991c991b8775b882ef271fcac740ace8675e7538 100755
--- a/debian/rules
+++ b/debian/rules.em
@@ -14,29 +14,29 @@ export DH_OPTIONS=-v --buildsystem=cmake
# https://code.ros.org/trac/ros/ticket/2977
# https://code.ros.org/trac/ros/ticket/3842
export LDFLAGS=
-export PKG_CONFIG_PATH=/opt/ros/indigo/lib/pkgconfig
+export PKG_CONFIG_PATH=@(InstallationPrefix)/lib/pkgconfig
# Explicitly enable -DNDEBUG, see:
# https://github.com/ros-infrastructure/bloom/issues/327
export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG
%:
- dh $@
+ dh $@@
override_dh_auto_configure:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
- if [ -f "/opt/ros/indigo/setup.sh" ]; then . "/opt/ros/indigo/setup.sh"; fi && \
+ if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_auto_configure -- \
-DCATKIN_BUILD_BINARY_PACKAGE="1" \
- -DCMAKE_INSTALL_PREFIX="/opt/ros/indigo" \
- -DCMAKE_PREFIX_PATH="/opt/ros/indigo"
+ -DCMAKE_INSTALL_PREFIX="@(InstallationPrefix)" \
+ -DCMAKE_PREFIX_PATH="@(InstallationPrefix)"
override_dh_auto_build:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
- if [ -f "/opt/ros/indigo/setup.sh" ]; then . "/opt/ros/indigo/setup.sh"; fi && \
+ if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_auto_build
override_dh_auto_test:
@@ -44,19 +44,19 @@ override_dh_auto_test:
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
echo -- Running tests. Even if one of them fails the build is not canceled.
- if [ -f "/opt/ros/indigo/setup.sh" ]; then . "/opt/ros/indigo/setup.sh"; fi && \
+ if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_auto_test || true
override_dh_shlibdeps:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
- if [ -f "/opt/ros/indigo/setup.sh" ]; then . "/opt/ros/indigo/setup.sh"; fi && \
- dh_shlibdeps -l$(CURDIR)/debian/ros-indigo-homer-map-manager//opt/ros/indigo/lib/
+ if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
+ dh_shlibdeps -l$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/lib/
override_dh_auto_install:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
- if [ -f "/opt/ros/indigo/setup.sh" ]; then . "/opt/ros/indigo/setup.sh"; fi && \
+ if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_auto_install
diff --git a/src/Managers/MapManager.h b/include/homer_map_manager/Managers/MapManager.h
similarity index 100%
rename from src/Managers/MapManager.h
rename to include/homer_map_manager/Managers/MapManager.h
diff --git a/src/Managers/MaskingManager.h b/include/homer_map_manager/Managers/MaskingManager.h
similarity index 100%
rename from src/Managers/MaskingManager.h
rename to include/homer_map_manager/Managers/MaskingManager.h
diff --git a/src/Managers/PoiManager.h b/include/homer_map_manager/Managers/PoiManager.h
similarity index 100%
rename from src/Managers/PoiManager.h
rename to include/homer_map_manager/Managers/PoiManager.h
diff --git a/src/Managers/RoiManager.h b/include/homer_map_manager/Managers/RoiManager.h
similarity index 100%
rename from src/Managers/RoiManager.h
rename to include/homer_map_manager/Managers/RoiManager.h
diff --git a/src/MapIO/image_loader.h b/include/homer_map_manager/MapIO/image_loader.h
similarity index 100%
rename from src/MapIO/image_loader.h
rename to include/homer_map_manager/MapIO/image_loader.h
diff --git a/src/MapIO/map_loader.h b/include/homer_map_manager/MapIO/map_loader.h
similarity index 100%
rename from src/MapIO/map_loader.h
rename to include/homer_map_manager/MapIO/map_loader.h
diff --git a/src/MapIO/map_saver.h b/include/homer_map_manager/MapIO/map_saver.h
similarity index 100%
rename from src/MapIO/map_saver.h
rename to include/homer_map_manager/MapIO/map_saver.h
diff --git a/src/Workers/PointOfInterest/PointOfInterest.h b/include/homer_map_manager/Workers/PointOfInterest/PointOfInterest.h
similarity index 100%
rename from src/Workers/PointOfInterest/PointOfInterest.h
rename to include/homer_map_manager/Workers/PointOfInterest/PointOfInterest.h
diff --git a/src/map_manager_node.h b/include/homer_map_manager/map_manager_node.h
similarity index 100%
rename from src/map_manager_node.h
rename to include/homer_map_manager/map_manager_node.h
diff --git a/package.xml b/package.xml
index a200336622e58238800af05b9a93724c798f6bd9..5bd3cb088884a812ca4420f70f3ac00db9905275 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
<package>
<name>homer_map_manager</name>
- <version>1.0.13</version>
+ <version>1.0.14</version>
<description>
map_manager
</description>
diff --git a/src/Managers/CMakeLists.txt b/src/Managers/CMakeLists.txt
index 5fbd5a471ce310d95b574625d6c7b3f49b65442b..1752e47761238d0274e317bf40914fd3fd78bd4f 100644
--- a/src/Managers/CMakeLists.txt
+++ b/src/Managers/CMakeLists.txt
@@ -3,3 +3,5 @@ set(Managers_SRC MapManager.cpp MaskingManager.cpp PoiManager.cpp RoiManager.cpp
add_library(Managers ${Managers_SRC})
target_link_libraries(Managers image_io)
add_dependencies(Managers homer_mapnav_msgs_gencpp)
+
+install(TARGETS Managers DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
diff --git a/src/Managers/MapManager.cpp b/src/Managers/MapManager.cpp
index d3777c86fedac12de507e84e5caf6ffee9430e30..6065df7180ee813bfd2bd517c619ccbf9c3ee4a2 100644
--- a/src/Managers/MapManager.cpp
+++ b/src/Managers/MapManager.cpp
@@ -4,12 +4,12 @@
#include <string>
#include <vector>
-#include "MapManager.h"
+#include <homer_map_manager/Managers/MapManager.h>
#include <nav_msgs/OccupancyGrid.h>
#include <homer_mapnav_msgs/ModifyMap.h>
#include <homer_mapnav_msgs/MapLayers.h>
-#include <tools/tools.h>
+#include <homer_nav_libs/tools/tools.h>
MapManager::MapManager(ros::NodeHandle* nh)
diff --git a/src/Managers/MaskingManager.cpp b/src/Managers/MaskingManager.cpp
index 3c943387898e8a12c07e1996ed5f0f27697a58e8..640da3568551659f455a3241c5f20562badec0f2 100644
--- a/src/Managers/MaskingManager.cpp
+++ b/src/Managers/MaskingManager.cpp
@@ -1,6 +1,6 @@
-#include "MaskingManager.h"
+#include <homer_map_manager/Managers/MaskingManager.h>
-#include "ros/ros.h"
+#include <ros/ros.h>
#include <homer_mapnav_msgs/ModifyMap.h>
diff --git a/src/Managers/PoiManager.cpp b/src/Managers/PoiManager.cpp
index e605b02223e998a5f3b6d096d76e9defc5f83a8e..3b5bd8155ae4e6dd4081338ebd01d962be9c3dc4 100644
--- a/src/Managers/PoiManager.cpp
+++ b/src/Managers/PoiManager.cpp
@@ -1,8 +1,8 @@
-#include "PoiManager.h"
+#include <homer_map_manager/Managers/PoiManager.h>
#include <sstream>
-#include "homer_mapnav_msgs/PointsOfInterest.h"
+#include <homer_mapnav_msgs/PointsOfInterest.h>
#include <ros/ros.h>
diff --git a/src/Managers/RoiManager.cpp b/src/Managers/RoiManager.cpp
index 8e7327b50a8f3c0e71fa246bb4012483fa66bef2..1d232074fd54a33449639b8a9c68ed7dd8dd52cd 100644
--- a/src/Managers/RoiManager.cpp
+++ b/src/Managers/RoiManager.cpp
@@ -1,8 +1,8 @@
#include <sstream>
-#include "homer_mapnav_msgs/RegionsOfInterest.h"
+#include <homer_mapnav_msgs/RegionsOfInterest.h>
-#include "RoiManager.h"
+#include <homer_map_manager/Managers/RoiManager.h>
RoiManager::RoiManager(ros::NodeHandle *nh)
{
diff --git a/src/MapIO/CMakeLists.txt b/src/MapIO/CMakeLists.txt
index bb3933f1f42f3bc1c74187dff39a4a5d171be5e9..fcfa690746a8b0053c0060fdb5b780e518f55b86 100644
--- a/src/MapIO/CMakeLists.txt
+++ b/src/MapIO/CMakeLists.txt
@@ -1,3 +1,4 @@
add_library(image_io image_loader.cpp map_saver.cpp map_loader.cpp)
target_link_libraries(image_io SDL SDL_image yaml-cpp)
add_dependencies(image_io homer_mapnav_msgs_gencpp)
+install(TARGETS image_io DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
diff --git a/src/MapIO/image_loader.cpp b/src/MapIO/image_loader.cpp
index c1f1bf78f4216d724122345a0ece34d93214d51c..46f36923bb6f59bb28a1da98f3dfcc64713a34bb 100644
--- a/src/MapIO/image_loader.cpp
+++ b/src/MapIO/image_loader.cpp
@@ -42,7 +42,7 @@
// We use SDL_image to load the image from disk
#include <SDL/SDL_image.h>
-#include "image_loader.h"
+#include <homer_map_manager/MapIO/image_loader.h>
#include <tf/tf.h>
// compute linear index for given map coords
diff --git a/src/MapIO/map_loader.cpp b/src/MapIO/map_loader.cpp
index 853882daf6b5e11bab69a766d1936b0aaa8e1241..0459043d3407269de2f92be97e417399fd2fec7e 100644
--- a/src/MapIO/map_loader.cpp
+++ b/src/MapIO/map_loader.cpp
@@ -35,14 +35,14 @@
#include <libgen.h>
#include <fstream>
-#include "ros/ros.h"
-#include "ros/console.h"
-#include "image_loader.h"
-#include "nav_msgs/MapMetaData.h"
-#include "yaml-cpp/yaml.h"
-#include "tf/transform_datatypes.h"
-
-#include "map_loader.h"
+#include <ros/ros.h>
+#include <ros/console.h>
+#include <homer_map_manager/MapIO/image_loader.h>
+#include <nav_msgs/MapMetaData.h>
+#include <yaml-cpp/yaml.h>
+#include <tf/transform_datatypes.h>
+
+#include <homer_map_manager/MapIO/map_loader.h>
/** Trivial constructor */
MapServer::MapServer(const std::string fname)
diff --git a/src/MapIO/map_saver.cpp b/src/MapIO/map_saver.cpp
index 993a732bbdc952ce37f912cbe1aee0c468720c53..0bf35200ea5fe00db1c6e47afb3eb91e3fc16efd 100644
--- a/src/MapIO/map_saver.cpp
+++ b/src/MapIO/map_saver.cpp
@@ -28,7 +28,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
-#include "map_saver.h"
+#include <homer_map_manager/MapIO/map_saver.h>
#include <sys/types.h>
#include <sys/stat.h>
diff --git a/src/main.cpp b/src/main.cpp
index 8657ac2601953df6e140e8405dbf8b61b9515c65..059b3001cac1cbdda95e2a5d2ce78019e1e8017f 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,6 +1,6 @@
#include <ros/ros.h>
-#include "map_manager_node.h"
+#include <homer_map_manager/map_manager_node.h>
int main(int argc, char** argv)
{
diff --git a/src/map_manager_node.cpp b/src/map_manager_node.cpp
index 079e4c46383782649f8b3056a41fdba2dfc1c67b..b1dd9d53ff5b251bbdb7529d27648db8243a1309 100644
--- a/src/map_manager_node.cpp
+++ b/src/map_manager_node.cpp
@@ -1,9 +1,9 @@
-#include "map_manager_node.h"
+#include <homer_map_manager/map_manager_node.h>
-#include "MapIO/map_saver.h"
-#include "MapIO/map_loader.h"
-#include "tools/loadRosConfig.h"
-#include "tools/tools.h"
+#include <homer_map_manager/MapIO/map_saver.h>
+#include <homer_map_manager/MapIO/map_loader.h>
+#include <homer_nav_libs/tools/loadRosConfig.h>
+#include <homer_nav_libs/tools/tools.h>
MapManagerNode::MapManagerNode(ros::NodeHandle *nh)