Fawkes API Fawkes Development Version
ros_joints_thread.h
1
2/***************************************************************************
3 * ros_joints_thread.h - Publish Robotino joint info via ROS
4 *
5 * Created: Fri Mar 30 10:55:31 2012
6 * Copyright 2011-2012 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#ifndef _PLUGINS_ROBOTINO_ROS_JOINTS_THREAD_H_
24#define _PLUGINS_ROBOTINO_ROS_JOINTS_THREAD_H_
25
26#include <aspect/blackboard.h>
27#include <aspect/blocked_timing.h>
28#include <aspect/configurable.h>
29#include <aspect/logging.h>
30#include <core/threading/thread.h>
31#include <plugins/ros/aspect/ros.h>
32#include <ros/publisher.h>
33#include <sensor_msgs/JointState.h>
34
35namespace fawkes {
36class RobotinoSensorInterface;
37}
38
44{
45public:
47
48 virtual void init();
49 virtual void loop();
50 virtual void finalize();
51
52 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
53protected:
54 virtual void
56 {
57 Thread::run();
58 }
59
60private: // members
62
63 ros::Publisher pub_joints_;
64 sensor_msgs::JointState joint_state_msg_;
65};
66
67#endif
Robotino IR distances as point cloud.
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
RobotinoRosJointsThread()
Constructor.
virtual void loop()
Code to execute in the thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
RobotinoSensorInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.