21 #ifndef __PLUGINS_ROS_CMDVEL_THREAD_H_
22 #define __PLUGINS_ROS_CMDVEL_THREAD_H_
24 #include <core/threading/thread.h>
25 #include <core/utils/lockptr.h>
26 #include <aspect/logging.h>
27 #include <aspect/configurable.h>
28 #include <aspect/blocked_timing.h>
29 #include <aspect/blackboard.h>
30 #include <plugins/ros/aspect/ros.h>
31 #include <ros/subscriber.h>
32 #include <geometry_msgs/Twist.h>
55 protected:
virtual void run() { Thread::run(); }
59 void send_transrot(
float vx,
float vy,
float omega);
60 void twist_msg_cb(
const geometry_msgs::Twist::ConstPtr &msg);
Thread aspect to access to BlackBoard.
Thread aspect to get access to a ROS node handle.
Fawkes library namespace.
Thread class encapsulation of pthreads.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void init()
Initialize the thread.
Thread to translate ROS twist messages to navigator transrot messages.
virtual bool prepare_finalize_user()
Prepare finalization user implementation.
ROSCmdVelThread()
Constructor.
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
Thread aspect to log output.
Thread aspect to access configuration data.
MotorInterface Fawkes BlackBoard Interface.