Fawkes API
Fawkes Development Version
Main Page
Related Pages
Modules
Namespaces
Classes
Files
File List
All
Classes
Namespaces
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Groups
Pages
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 <core/threading/thread.h>
27
#include <aspect/blocked_timing.h>
28
#include <aspect/logging.h>
29
#include <aspect/configurable.h>
30
#include <aspect/blackboard.h>
31
#include <plugins/ros/aspect/ros.h>
32
33
#include <ros/publisher.h>
34
#include <sensor_msgs/JointState.h>
35
36
namespace
fawkes {
37
class
RobotinoSensorInterface;
38
}
39
40
class
RobotinoRosJointsThread
41
:
public
fawkes::Thread
,
42
public
fawkes::BlockedTimingAspect
,
43
public
fawkes::BlackBoardAspect
,
44
public
fawkes::LoggingAspect
,
45
public
fawkes::ROSAspect
46
{
47
public
:
48
RobotinoRosJointsThread
();
49
50
virtual
void
init
();
51
virtual
void
loop
();
52
virtual
void
finalize
();
53
54
/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
55
protected
:
virtual
void
run
() { Thread::run(); }
56
57
private
:
// members
58
fawkes::RobotinoSensorInterface
*sens_if_;
59
60
ros::Publisher pub_joints_;
61
sensor_msgs::JointState joint_state_msg_;
62
63
};
64
65
66
#endif
src
plugins
robotino
ros_joints_thread.h
Generated by
1.8.3.1