21 #ifndef __PLUGINS_AMCL_ROS_THREAD_H_ 22 #define __PLUGINS_AMCL_ROS_THREAD_H_ 25 # error "ROS integration requires ROS support of system" 28 #include "amcl_thread.h" 33 #include <core/threading/thread.h> 34 #include <aspect/configurable.h> 35 #include <aspect/blackboard.h> 36 #include <aspect/logging.h> 38 #include <interfaces/LocalizationInterface.h> 40 #include <plugins/ros/aspect/ros.h> 41 #include <ros/publisher.h> 42 #include <ros/subscriber.h> 43 #include <geometry_msgs/PoseWithCovarianceStamped.h> 64 virtual void finalize();
66 void publish_pose_array(
const std::string &global_frame_id,
67 const pf_sample_set_t*
set);
68 void publish_pose(
const std::string &global_frame_id,
70 const double last_covariance[36]);
71 void publish_map(
const std::string &global_frame_id,
79 void initial_pose_received(
const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg);
82 std::string cfg_pose_ifname_;
86 ros::Publisher pose_pub_;
87 ros::Publisher particlecloud_pub_;
88 ros::Subscriber initial_pose_sub_;
89 ros::Publisher map_pub_;
LocalizationInterface Fawkes BlackBoard Interface.
Thread aspect to access to BlackBoard.
Thread aspect to get access to a ROS node handle.
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Thread class encapsulation of pthreads.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread to perform Adaptive Monte Carlo Localization.
Thread aspect to log output.
Thread aspect to access configuration data.
Thread for ROS integration of the Adaptive Monte Carlo Localization.