22 #ifndef __ROS_NAVIGATOR_THREAD_H_
23 #define __ROS_NAVIGATOR_THREAD_H_
25 #include <core/threading/thread.h>
26 #include <aspect/blocked_timing.h>
27 #include <aspect/logging.h>
28 #include <aspect/blackboard.h>
29 #include <aspect/configurable.h>
31 #include <interfaces/NavigatorInterface.h>
36 #include <move_base_msgs/MoveBaseAction.h>
37 #include <move_base_msgs/MoveBaseGoal.h>
38 #include <move_base_msgs/MoveBaseActionGoal.h>
39 #include <actionlib/client/simple_action_client.h>
42 class NavigatorInterface;
65 typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
69 move_base_msgs::MoveBaseGoal goal_;
71 bool connected_history_;
virtual void finalize()
Finalize the thread.
Thread aspect to access to BlackBoard.
RosNavigatorThread()
Contructor.
Send Fawkes locomotion commands off to ROS.
Thread class encapsulation of pthreads.
Thread aspect to use blocked timing.
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
Thread aspect to log output.
Thread aspect to access configuration data.
NavigatorInterface Fawkes BlackBoard Interface.