22 #ifndef __PLUGINS_GAZSIM_LOCALIZATION_THREAD_H_ 23 #define __PLUGINS_GAZSIM_LOCALIZATION_THREAD_H_ 25 #include <core/threading/thread.h> 26 #include <aspect/clock.h> 27 #include <aspect/configurable.h> 28 #include <aspect/logging.h> 29 #include <aspect/blackboard.h> 30 #include <aspect/blocked_timing.h> 31 #include <aspect/tf.h> 32 #include <plugins/gazebo/aspect/gazebo.h> 35 #include <gazebo/transport/TransportTypes.hh> 36 #include <gazebo/msgs/MessageTypes.hh> 37 #include <gazebo/transport/transport.hh> 41 class Position3DInterface;
59 virtual void finalize();
63 gazebo::transport::SubscriberPtr localization_sub_;
64 std::string gps_topic_;
70 void on_localization_msg(ConstPosePtr &msg);
85 double transform_tolerance_;
88 std::string odom_frame_id_;
89 std::string global_frame_id_;
Thread aspect to access to BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
Fawkes library namespace.
Thread aspect to get access to a Gazebo node handle.
Thread class encapsulation of pthreads.
Thread aspect to use blocked timing.
Position3DInterface Fawkes BlackBoard Interface.
Thread aspect to log output.
Thread simulates the Localization in Gazebo.
Thread aspect to access configuration data.