Fawkes API Fawkes Development Version
robot_description_thread.h
1/***************************************************************************
2 * robot_description_thread.h - ROS Robot Description Plugin
3 *
4 * Created: Fri May 16 15:29:17 2014
5 * Copyright 2014 Till Hofmann
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#ifndef _PLUGINS_ROS_ROBOT_DESCRIPTION_THREAD_H_
23#define _PLUGINS_ROS_ROBOT_DESCRIPTION_THREAD_H_
24
25#include <aspect/configurable.h>
26#include <aspect/logging.h>
27#include <core/threading/thread.h>
28#include <plugins/ros/aspect/ros.h>
29
30#include <string>
31
36{
37public:
40
41 virtual void init();
42 virtual void finalize();
43
44private:
45 std::string cfg_urdf_path_;
46 std::string cfg_ros_param_;
47};
48
49#endif
Thread to publish the robot description to ROS.
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
Thread class encapsulation of pthreads.
Definition: thread.h:46