22 #ifndef __ROS_NAVGRAPH_BREAKOUT_THREAD_H_ 23 #define __ROS_NAVGRAPH_BREAKOUT_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> 32 #include <fawkes_msgs/NavGraphGotoAction.h> 33 #include <fawkes_msgs/NavGraphGotoGoal.h> 34 #include <actionlib/client/simple_action_client.h> 39 class NavigatorInterface;
53 virtual void finalize();
60 typedef actionlib::SimpleActionClient<fawkes_msgs::NavGraphGotoAction> NavGraphGotoClient;
62 std::string cfg_action_topic_;
65 NavGraphGotoClient *ac_;
66 fawkes_msgs::NavGraphGotoGoal goal_;
Thread aspect to access to BlackBoard.
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Thread class encapsulation of pthreads.
Thread aspect to use blocked timing.
Provide navgraph-like API through ROS.
Thread aspect to log output.
Thread aspect to access configuration data.
virtual void run()
Stub to see name in backtrace for easier debugging.
NavigatorInterface Fawkes BlackBoard Interface.