Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * ros_joints_thread.h - Publish Robotino joint info via ROS 00004 * 00005 * Created: Fri Mar 30 10:55:31 2012 00006 * Copyright 2011-2012 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #ifndef __PLUGINS_ROBOTINO_ROS_JOINTS_THREAD_H_ 00024 #define __PLUGINS_ROBOTINO_ROS_JOINTS_THREAD_H_ 00025 00026 #include <core/threading/thread.h> 00027 #include <aspect/blocked_timing.h> 00028 #include <aspect/logging.h> 00029 #include <aspect/configurable.h> 00030 #include <aspect/blackboard.h> 00031 #include <plugins/ros/aspect/ros.h> 00032 00033 #include <ros/publisher.h> 00034 #include <sensor_msgs/JointState.h> 00035 00036 namespace fawkes { 00037 class RobotinoSensorInterface; 00038 } 00039 00040 class RobotinoRosJointsThread 00041 : public fawkes::Thread, 00042 public fawkes::BlockedTimingAspect, 00043 public fawkes::BlackBoardAspect, 00044 public fawkes::LoggingAspect, 00045 public fawkes::ROSAspect 00046 { 00047 public: 00048 RobotinoRosJointsThread(); 00049 00050 virtual void init(); 00051 virtual void loop(); 00052 virtual void finalize(); 00053 00054 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00055 protected: virtual void run() { Thread::run(); } 00056 00057 private: // members 00058 fawkes::RobotinoSensorInterface *sens_if_; 00059 00060 ros::Publisher pub_joints_; 00061 sensor_msgs::JointState joint_state_msg_; 00062 00063 }; 00064 00065 00066 #endif