22 #ifndef __ROS_NAVIGATOR_THREAD_H_ 23 #define __ROS_NAVIGATOR_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> 31 #include <interfaces/NavigatorInterface.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> 42 class NavigatorInterface;
56 virtual void finalize();
68 typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
72 move_base_msgs::MoveBaseGoal goal_;
74 bool connected_history_;
Thread aspect to access to BlackBoard.
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Send Fawkes locomotion commands off to ROS.
Thread class encapsulation of pthreads.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to use blocked timing.
Thread aspect to log output.
Thread aspect to access configuration data.
NavigatorInterface Fawkes BlackBoard Interface.