Fawkes API  Fawkes Development Version
navigator_thread.h
1 
2 /***************************************************************************
3  * navigator_thread.h - Robotino ROS Navigator Thread
4  *
5  * Created: Sat June 09 15:13:27 2012
6  * Copyright 2012 Sebastian Reuter
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 __ROS_NAVIGATOR_THREAD_H_
23 #define __ROS_NAVIGATOR_THREAD_H_
24 
25 #include <core/threading/thread.h>
26 #include <aspect/blocked_timing.h>
27 #include <aspect/logging.h>
28 #include <aspect/blackboard.h>
29 #include <aspect/configurable.h>
30 
31 #include <interfaces/NavigatorInterface.h>
32 
33 #include <tf/types.h>
34 #include <math.h>
35 #include <ros/ros.h>
36 #include <move_base_msgs/MoveBaseAction.h>
37 #include <move_base_msgs/MoveBaseGoal.h>
38 #include <move_base_msgs/MoveBaseActionGoal.h>
39 #include <actionlib/client/simple_action_client.h>
40 
41 namespace fawkes {
42  class NavigatorInterface;
43 }
44 
46 : public fawkes::Thread,
48  public fawkes::LoggingAspect,
51 {
52  public:
54 
55  virtual void init();
56  virtual void finalize();
57  virtual void loop();
58 
59  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
60  protected: virtual void run() { Thread::run(); }
61 
62  private:
63  void check_status();
64  void send_goal();
65  void stop_goals();
66 
67  private:
68  typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
69 
71  MoveBaseClient *ac_;
72  move_base_msgs::MoveBaseGoal goal_;
73  bool cmd_sent_;
74  bool connected_history_;
75 };
76 
77 #endif /* __ROS_NAVIGATOR_THREAD_H_ */
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Definition: thread.cpp:939
Send Fawkes locomotion commands off to ROS.
Thread class encapsulation of pthreads.
Definition: thread.h:42
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to use blocked timing.
Thread aspect to log output.
Definition: logging.h:35
Thread aspect to access configuration data.
Definition: configurable.h:35
NavigatorInterface Fawkes BlackBoard Interface.