Fawkes API Fawkes Development Version
robot_state_publisher_plugin.cpp
1/***************************************************************************
2 * robot_state_publisher_plugin.cpp - Robot State Publisher Plugin
3 *
4 * Created on Thu Aug 22 11:18:00 2013
5 * Copyright (C) 2013 by Till Hofmann, AllemaniACs RoboCup Team
6 *
7 ****************************************************************************/
8
9/* This program is free software; you can redistribute it and/or modify
10 * it under the terms of the GNU General Public License as published by
11 * the Free Software Foundation; either version 2 of the License, or
12 * (at your option) any later version.
13 *
14 * This program is distributed in the hope that it will be useful,
15 * but WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17 * GNU Library General Public License for more details.
18 *
19 * Read the full text in the LICENSE.GPL file in the doc directory.
20 */
21
22#include "robot_state_publisher_thread.h"
23
24#include <core/plugin.h>
25
26using namespace fawkes;
27
28/** This plugin publishes the robot's transforms given a URDF
29 * model and joint values for the robot's joints
30 * @author Till Hofmann
31 */
32
34{
35public:
36 /** Constructor.
37 * @param config Fawkes configuration
38 */
40 {
42 }
43};
44
45PLUGIN_DESCRIPTION("Publishes transforms given a robot model and joint values")
46EXPORT_PLUGIN(RobotStatePublisherPlugin)
This plugin publishes the robot's transforms given a URDF model and joint values for the robot's join...
RobotStatePublisherPlugin(Configuration *config)
Constructor.
Thread to publish the robot's transforms.
Interface for configuration handling.
Definition: config.h:68
Plugin interface class.
Definition: plugin.h:34
ThreadList thread_list
Thread list member.
Definition: plugin.h:53
Configuration * config
Fawkes configuration.
Definition: plugin.h:58
void push_back(Thread *thread)
Add thread to the end.
Fawkes library namespace.