Fawkes API  Fawkes Development Version
fawkes::GazeboAspect Class Reference

Thread aspect to get access to a Gazebo node handle. More...

#include <>>

Inheritance diagram for fawkes::GazeboAspect:

Public Member Functions

 GazeboAspect ()
 Constructor. More...
 
virtual ~GazeboAspect ()
 Virtual empty destructor. More...
 
- Public Member Functions inherited from fawkes::Aspect
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

- Protected Member Functions inherited from fawkes::Aspect
void add_aspect (const char *name)
 Add an aspect to a thread. More...
 

Detailed Description

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

Author
Bastian Klingen, Frederik Zwilling

Definition at line 37 of file gazebo.h.

Constructor & Destructor Documentation

◆ GazeboAspect()

fawkes::GazeboAspect::GazeboAspect ( )

Constructor.

Definition at line 49 of file gazebo.cpp.

References fawkes::Aspect::add_aspect().

◆ ~GazeboAspect()

fawkes::GazeboAspect::~GazeboAspect ( )
virtual

Virtual empty destructor.

Definition at line 56 of file gazebo.cpp.

References gazebo_world_node, and gazebonode.

Member Data Documentation

◆ gazebo_world_node

gazebo::transport::NodePtr fawkes::GazeboAspect::gazebo_world_node
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().

◆ gazebonode

fawkes:LockPtr< gazebo::NodeHandle > fawkes::GazeboAspect::gazebonode
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().


The documentation for this class was generated from the following files: