Fawkes API  Fawkes Development Version
robot_description_thread.h
1 /***************************************************************************
2  * robot_description_thread.h - ROS Robot Description Plugin
3  *
4  * Created: Fri May 16 15:29:17 2014
5  * Copyright 2014 Till Hofmann
6  *
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef __PLUGINS_ROS_ROBOT_DESCRIPTION_THREAD_H_
23 #define __PLUGINS_ROS_ROBOT_DESCRIPTION_THREAD_H_
24 
25 #include <core/threading/thread.h>
26 #include <aspect/configurable.h>
27 #include <aspect/logging.h>
28 #include <plugins/ros/aspect/ros.h>
29 
30 #include <string>
31 
33 : public fawkes::Thread,
35  public fawkes::LoggingAspect,
36  public fawkes::ROSAspect
37 {
38  public:
40  virtual ~ROSRobotDescriptionThread();
41 
42  virtual void init();
43  virtual void finalize();
44  private:
45  std::string cfg_urdf_path_;
46  std::string cfg_ros_param_;
47 };
48 
49 #endif
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
Thread class encapsulation of pthreads.
Definition: thread.h:42
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
Thread aspect to log output.
Definition: logging.h:35
Thread aspect to access configuration data.
Definition: configurable.h:35
Thread to publish the robot description to ROS.