22 #ifndef __PLUGINS_NAVGRAPH_GENERATOR_VISUALIZATION_THREAD_H_ 23 #define __PLUGINS_NAVGRAPH_GENERATOR_VISUALIZATION_THREAD_H_ 25 #include "navgraph_generator_thread.h" 27 #include <core/threading/thread.h> 28 #include <core/threading/mutex.h> 29 #include <aspect/configurable.h> 30 #include <aspect/logging.h> 31 #include <plugins/ros/aspect/ros.h> 33 #include <ros/publisher.h> 34 #include <visualization_msgs/MarkerArray.h> 50 void publish(
const NavGraphGeneratorThread::ObstacleMap &obstacles,
51 const NavGraphGeneratorThread::ObstacleMap &map_obstacles,
52 const NavGraphGeneratorThread::PoiMap &pois);
55 std::string cfg_global_frame_;
58 ros::Publisher vispub_;
60 NavGraphGeneratorThread::ObstacleMap obstacles_;
61 NavGraphGeneratorThread::ObstacleMap map_obstacles_;
62 NavGraphGeneratorThread::PoiMap pois_;
Thread aspect to get access to a ROS node handle.
void publish(const NavGraphGeneratorThread::ObstacleMap &obstacles, const NavGraphGeneratorThread::ObstacleMap &map_obstacles, const NavGraphGeneratorThread::PoiMap &pois)
Trigger publishing of visualization.
Thread class encapsulation of pthreads.
NavGraphGeneratorVisualizationThread()
Constructor.
virtual void loop()
Code to execute in the thread.
Thread aspect to log output.
Send Marker messages to rviz to show navgraph-generator info.
Thread aspect to access configuration data.
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.