22 #ifndef __PLUGINS_ROS_JOINT_THREAD_H_ 23 #define __PLUGINS_ROS_JOINT_THREAD_H_ 26 #include <core/threading/thread.h> 27 #include <aspect/blocked_timing.h> 28 #include <aspect/logging.h> 29 #include <aspect/blackboard.h> 30 #include <plugins/ros/aspect/ros.h> 31 #include <blackboard/interface_listener.h> 32 #include <blackboard/interface_observer.h> 33 #include <core/threading/mutex.h> 34 #include <interfaces/JointInterface.h> 39 #include <ros/node_handle.h> 58 unsigned int instance_serial)
throw();
60 unsigned int instance_serial)
throw();
67 ros::Publisher ros_pub_;
68 std::list<fawkes::JointInterface *> ifs_;
virtual void bb_interface_created(const char *type, const char *id)
BlackBoard interface created notification.
virtual void init()
Initialize the thread.
virtual void bb_interface_data_changed(fawkes::Interface *interface)
BlackBoard data changed notification.
Thread aspect to access to BlackBoard.
Thread aspect to get access to a ROS node handle.
Thread class encapsulation of pthreads.
Thread to publish JointStates to ROS.
Base class for all Fawkes BlackBoard interfaces.
virtual void bb_interface_reader_removed(fawkes::Interface *interface, unsigned int instance_serial)
A reading instance has been closed for a watched interface.
virtual ~RosJointThread()
Destructor.
virtual void bb_interface_writer_removed(fawkes::Interface *interface, unsigned int instance_serial)
A writing instance has been closed for a watched interface.
Thread aspect to log output.
RosJointThread()
Constructor.
BlackBoard interface observer.
BlackBoard interface listener.
virtual void finalize()
Finalize the thread.