Fawkes API  Fawkes Development Version
robot_state_publisher_plugin.cpp
1 /***************************************************************************
2  * robot_state_publisher_plugin.cpp - Robot State Publisher Plugin
3  *
4  * Created on Thu Aug 22 11:18:00 2013
5  * Copyright (C) 2013 by Till Hofmann, AllemaniACs RoboCup Team
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 #include <core/plugin.h>
23 
24 #include "robot_state_publisher_thread.h"
25 
26 using namespace fawkes;
27 
28 /** This plugin publishes the robot's transforms given a URDF
29  * model and joint values for the robot's joints
30  * @author Till Hofmann
31  */
32 
34 {
35 public:
36  /** Constructor.
37  * @param config Fawkes configuration
38  */
40  : Plugin(config)
41  {
42  thread_list.push_back(new RobotStatePublisherThread());
43  }
44 };
45 
46 PLUGIN_DESCRIPTION("Publishes transforms given a robot model and joint values")
47 EXPORT_PLUGIN(RobotStatePublisherPlugin)
Plugin interface class.
Definition: plugin.h:33
Fawkes library namespace.
RobotStatePublisherPlugin(Configuration *config)
Constructor.
This plugin publishes the robot&#39;s transforms given a URDF model and joint values for the robot&#39;s join...
Thread to publish the robot&#39;s transforms.
Interface for configuration handling.
Definition: config.h:67