22 #ifndef __PLUGINS_PERCEPTION_PCL_DB_ROS_PCL_DB_ROSCOMM_THREAD_H_ 23 #define __PLUGINS_PERCEPTION_PCL_DB_ROS_PCL_DB_ROSCOMM_THREAD_H_ 25 #include <core/threading/thread.h> 26 #include <aspect/configurable.h> 27 #include <aspect/logging.h> 28 #include <aspect/blackboard.h> 29 #include <aspect/blocked_timing.h> 30 #include <aspect/pointcloud.h> 31 #include <plugins/ros/aspect/ros.h> 33 #include <hybris_c1_msgs/MergePointClouds.h> 34 #include <hybris_c1_msgs/RetrievePointCloud.h> 35 #include <hybris_c1_msgs/StorePointCloud.h> 36 #include <hybris_c1_msgs/RecordData.h> 39 class PclDatabaseMergeInterface;
40 class PclDatabaseRetrieveInterface;
41 class PclDatabaseStoreInterface;
42 class BlackBoardOnUpdateWaker;
68 bool merge_cb(hybris_c1_msgs::MergePointClouds::Request &req,
69 hybris_c1_msgs::MergePointClouds::Response &resp);
70 bool retrieve_cb(hybris_c1_msgs::RetrievePointCloud::Request &req,
71 hybris_c1_msgs::RetrievePointCloud::Response &resp);
72 bool store_cb(hybris_c1_msgs::StorePointCloud::Request &req,
73 hybris_c1_msgs::StorePointCloud::Response &resp);
74 bool record_cb(hybris_c1_msgs::RecordData::Request &req,
75 hybris_c1_msgs::RecordData::Response &resp);
79 protected:
virtual void run() { Thread::run(); }
95 ros::ServiceServer *srv_merge_;
96 ros::ServiceServer *srv_retrieve_;
97 ros::ServiceServer *srv_store_;
98 ros::ServiceServer *srv_record_;
100 unsigned int merge_msg_id_;
101 unsigned int retrieve_msg_id_;
102 unsigned int store_msg_id_;
104 std::string cfg_store_pcl_id_;
PclDatabaseMergeInterface Fawkes BlackBoard Interface.
virtual ~PointCloudDBROSCommThread()
Destructor.
Thread aspect to access to BlackBoard.
Wait until a given condition holds.
Thread aspect to get access to a ROS node handle.
Wake threads when a blackboard interface is updated.
PclDatabaseRetrieveInterface Fawkes BlackBoard Interface.
Fawkes library namespace.
Thread aspect to provide and access point clouds.
Thread class encapsulation of pthreads.
Thread to merge point clouds from database on request.
Thread aspect to use blocked timing.
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
Thread aspect to log output.
PointCloudDBROSCommThread()
Constructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access configuration data.
PclDatabaseStoreInterface Fawkes BlackBoard Interface.
virtual void loop()
Code to execute in the thread.