21 #ifndef __PLUGINS_ROS_CMDVEL_THREAD_H_ 22 #define __PLUGINS_ROS_CMDVEL_THREAD_H_ 24 #include <core/threading/thread.h> 25 #include <core/utils/lockptr.h> 26 #include <aspect/logging.h> 27 #include <aspect/configurable.h> 28 #include <aspect/blocked_timing.h> 29 #include <aspect/blackboard.h> 30 #include <plugins/ros/aspect/ros.h> 31 #include <ros/subscriber.h> 32 #include <geometry_msgs/Twist.h> 51 virtual bool prepare_finalize_user();
52 virtual void finalize();
59 void send_transrot(
float vx,
float vy,
float omega);
60 void twist_msg_cb(
const geometry_msgs::Twist::ConstPtr &msg);
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 translate ROS twist messages to navigator transrot messages.
Thread aspect to log output.
Thread aspect to access configuration data.
MotorInterface Fawkes BlackBoard Interface.