Fawkes API  Fawkes Development Version
ros_joints_thread.h
1 
2 /***************************************************************************
3  * ros_joints_thread.h - Publish Robotino joint info via ROS
4  *
5  * Created: Fri Mar 30 10:55:31 2012
6  * Copyright 2011-2012 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __PLUGINS_ROBOTINO_ROS_JOINTS_THREAD_H_
24 #define __PLUGINS_ROBOTINO_ROS_JOINTS_THREAD_H_
25 
26 #include <core/threading/thread.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/blackboard.h>
31 #include <plugins/ros/aspect/ros.h>
32 
33 #include <ros/publisher.h>
34 #include <sensor_msgs/JointState.h>
35 
36 namespace fawkes {
37  class RobotinoSensorInterface;
38 }
39 
41 : public fawkes::Thread,
44  public fawkes::LoggingAspect,
45  public fawkes::ROSAspect
46 {
47  public:
49 
50  virtual void init();
51  virtual void loop();
52  virtual void finalize();
53 
54  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
55  protected: virtual void run() { Thread::run(); }
56 
57  private: // members
59 
60  ros::Publisher pub_joints_;
61  sensor_msgs::JointState joint_state_msg_;
62 
63 };
64 
65 
66 #endif
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Definition: thread.cpp:939
Robotino IR distances as point cloud.
Thread class encapsulation of pthreads.
Definition: thread.h:42
RobotinoSensorInterface Fawkes BlackBoard Interface.
Thread aspect to use blocked timing.
Thread aspect to log output.
Definition: logging.h:35