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;
60 protected:
virtual void run() { Thread::run(); }
68 typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
72 move_base_msgs::MoveBaseGoal goal_;
74 bool connected_history_;
virtual void finalize()
Finalize the thread.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
RosNavigatorThread()
Contructor.
Send Fawkes locomotion commands off to ROS.
Thread class encapsulation of pthreads.
virtual void run()
Stub to see name in backtrace for easier debugging.
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.