Fawkes API
Fawkes Development Version
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00001 /*************************************************************************** 00002 * odometry_thread.h - Thread to publish odometry to ROS 00003 * 00004 * Created: Fri Jun 1 13:29:39 CEST 00005 * Copyright 2012 Sebastian Reuter 00006 ****************************************************************************/ 00007 00008 /* This program is free software; you can redistribute it and/or modify 00009 * it under the terms of the GNU General Public License as published by 00010 * the Free Software Foundation; either version 2 of the License, or 00011 * (at your option) any later version. 00012 * 00013 * This program is distributed in the hope that it will be useful, 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00016 * GNU Library General Public License for more details. 00017 * 00018 * Read the full text in the LICENSE.GPL file in the doc directory. 00019 */ 00020 00021 #ifndef __PLUGINS_ROS_ODOMETRY_THREAD_H_ 00022 #define __PLUGINS_ROS_ODOMETRY_THREAD_H_ 00023 00024 #include <core/threading/thread.h> 00025 #include <core/utils/lockptr.h> 00026 #include <aspect/logging.h> 00027 #include <aspect/configurable.h> 00028 #include <aspect/blocked_timing.h> 00029 #include <aspect/blackboard.h> 00030 #include <plugins/ros/aspect/ros.h> 00031 #include <ros/node_handle.h> 00032 00033 00034 namespace fawkes { 00035 class MotorInterface; 00036 } 00037 00038 class ROSOdometryThread 00039 : public fawkes::Thread, 00040 public fawkes::BlockedTimingAspect, 00041 public fawkes::LoggingAspect, 00042 public fawkes::ConfigurableAspect, 00043 public fawkes::BlackBoardAspect, 00044 public fawkes::ROSAspect 00045 { 00046 public: 00047 ROSOdometryThread(); 00048 00049 virtual void init(); 00050 virtual void loop(); 00051 virtual void finalize(); 00052 00053 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00054 protected: virtual void run() { Thread::run(); } 00055 00056 private: 00057 void publish_odom(); 00058 00059 private: 00060 fawkes::MotorInterface *motor_if_; 00061 ros::Publisher pub_; 00062 std::string cfg_odom_frame_id_; 00063 std::string cfg_base_frame_id_; 00064 }; 00065 00066 #endif