22 #ifndef __ROS_MOVE_BASE_THREAD_H_ 23 #define __ROS_MOVE_BASE_THREAD_H_ 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 #include <aspect/tf.h> 31 #include <plugins/ros/aspect/ros.h> 33 #include <interfaces/NavigatorInterface.h> 38 #include <move_base_msgs/MoveBaseAction.h> 39 #include <move_base_msgs/MoveBaseGoal.h> 40 #include <move_base_msgs/MoveBaseActionGoal.h> 41 #include <actionlib/server/simple_action_server.h> 44 class NavigatorInterface;
61 virtual void finalize();
71 typedef actionlib::ActionServer<move_base_msgs::MoveBaseAction> MoveBaseServer;
73 void action_goal_cb(MoveBaseServer::GoalHandle goal, ExecType ext);
74 void action_cancel_cb(MoveBaseServer::GoalHandle goal);
75 void message_cb(geometry_msgs::PoseStampedConstPtr goal_pose, ExecType ext);
78 move_base_msgs::MoveBaseResult create_result();
79 move_base_msgs::MoveBaseFeedback create_feedback();
87 MoveBaseServer *as_colli_;
88 MoveBaseServer *as_navgraph_;
89 ros::Subscriber sub_colli_;
90 ros::Subscriber sub_navgraph_;
92 MoveBaseServer::GoalHandle as_goal_;
93 geometry_msgs::PoseStamped goal_pose_;
95 std::string cfg_base_frame_;
96 std::string cfg_fixed_frame_;
102 unsigned int exec_msgid_;
Thread aspect to access to BlackBoard.
Thread aspect to get access to a ROS node handle.
Fawkes library namespace.
Thread class encapsulation of pthreads.
Accept locomotion commands from ROS (emulate move_base).
Thread aspect to use blocked timing.
Thread aspect to log output.
Thread aspect to access configuration data.
NavigatorInterface Fawkes BlackBoard Interface.