22 #ifndef __PLUGINS_GAZSIM_DEPTHCAM_THREAD_H_ 23 #define __PLUGINS_GAZSIM_DEPTHCAM_THREAD_H_ 25 #include <core/threading/thread.h> 26 #include <aspect/clock.h> 27 #include <aspect/configurable.h> 28 #include <aspect/logging.h> 29 #include <aspect/blackboard.h> 30 #include <aspect/blocked_timing.h> 31 #include <plugins/gazebo/aspect/gazebo.h> 34 #include <aspect/pointcloud.h> 35 #include <pcl/point_cloud.h> 36 #include <pcl/point_types.h> 40 #include <gazebo/transport/TransportTypes.hh> 41 #include <gazebo/msgs/MessageTypes.hh> 42 #include <gazebo/transport/transport.hh> 62 gazebo::transport::SubscriberPtr depthcam_sub_;
65 void on_depthcam_data_msg(ConstPointCloudPtr &msg);
69 std::string topic_name_;
Thread aspect to access to BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
Thread simulates a number of depthcams in Gazebo.
Thread aspect to provide and access point clouds.
Thread aspect to get access to a Gazebo node handle.
virtual void finalize()
Finalize the thread.
Thread class encapsulation of pthreads.
Thread aspect to use blocked timing.
virtual void init()
Initialize the thread.
Thread aspect to log output.
DepthcamSimThread()
Constructor.
Thread aspect to access configuration data.
RefPtr<> is a reference-counting shared smartpointer.
virtual void loop()
Code to execute in the thread.