Fawkes API
Fawkes Development Version
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Thread aspect to get access to a Gazebo node handle. More...
#include <>>
Public Member Functions | |
GazeboAspect () | |
Constructor. More... | |
virtual | ~GazeboAspect () |
Virtual empty destructor. More... | |
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const std::list< const char * > & | get_aspects () const |
Get list of aspect names attached to a aspected thread. More... | |
Protected Attributes | |
gazebo::transport::NodePtr | gazebonode |
Gazebo Node for communication with a robot. More... | |
gazebo::transport::NodePtr | gazebo_world_node |
Gazebo Node for communication with the world (e.g. More... | |
Friends | |
class | GazeboAspectIniFin |
Additional Inherited Members | |
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void | add_aspect (const char *name) |
Add an aspect to a thread. More... | |
Thread aspect to get access to a Gazebo node handle.
Give this aspect to your thread to interact with the central Gazebo node handle. You can also control the simulation by sending messages via the provided publishers
fawkes::GazeboAspect::GazeboAspect | ( | ) |
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virtual |
Virtual empty destructor.
Definition at line 56 of file gazebo.cpp.
References gazebo_world_node, and gazebonode.
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protected |
Gazebo Node for communication with the world (e.g.
for spawning visuals or robot independent information)
Definition at line 52 of file gazebo.h.
Referenced by WebcamSimThread::init(), DepthcamSimThread::init(), VisLocalizationThread::init(), and ~GazeboAspect().
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protected |
Gazebo Node for communication with a robot.
Central Gazebo node handle.
Make sure you use proper locking in your application when using the class, or chaos and havoc will come upon you.
Definition at line 47 of file gazebo.h.
Referenced by LaserSimThread::init(), LocalizationSimThread::init(), RobotinoSimThread::init(), and ~GazeboAspect().