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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 
41 : public fawkes::Thread,
44  public fawkes::LoggingAspect,
45  public fawkes::ROSAspect
46 {
47  public:
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
59 
60  ros::Publisher pub_joints_;
61  sensor_msgs::JointState joint_state_msg_;
62 
63 };
64 
65 
66 #endif
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
Robotino IR distances as point cloud.
Thread class encapsulation of pthreads.
Definition: thread.h:42
RobotinoRosJointsThread()
Constructor.
RobotinoSensorInterface Fawkes BlackBoard Interface.
virtual void loop()
Code to execute in the thread.
Thread aspect to use blocked timing.
virtual void finalize()
Finalize the thread.
Thread aspect to log output.
Definition: logging.h:35
virtual void init()
Initialize the thread.