Fawkes API  Fawkes Development Version
ros_joints_thread.h
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