23 #ifndef __PLUGINS_GAZSIM__TIMESOURCE_THREAD_H_ 24 #define __PLUGINS_GAZSIM__TIMESOURCE_THREAD_H_ 26 #include <core/threading/thread.h> 27 #include <aspect/clock.h> 28 #include <aspect/logging.h> 29 #include <aspect/configurable.h> 30 #include <aspect/blocked_timing.h> 31 #include <boost/asio.hpp> 32 #include <google/protobuf/message.h> 33 #include <gazebo/physics/physics.hh> 34 #include <plugins/gazebo/aspect/gazebo.h> 36 #include "gazsim_timesource_source.h" 37 #include "../msgs/SimTime.pb.h" 39 typedef const boost::shared_ptr<gazsim_msgs::SimTime const> ConstSimTimePtr;
62 gazebo::transport::SubscriberPtr time_sync_sub_;
65 void on_time_sync_msg(ConstSimTimePtr &msg);
Thread aspect that allows to obtain the current time from the clock.
Thread aspect to get access to a Gazebo node handle.
Thread class encapsulation of pthreads.
Thread aspect to use blocked timing.
Plugin provides the simulation time from gazebo.
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.
This time-source provides the simulation time from Gazebo in Fawkes.
virtual void finalize()
Finalize the thread.