22 #ifndef _PLUGINS_GAZSIM_LOCALIZATION_THREAD_H_
23 #define _PLUGINS_GAZSIM_LOCALIZATION_THREAD_H_
25 #include <aspect/blackboard.h>
26 #include <aspect/blocked_timing.h>
27 #include <aspect/clock.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <aspect/tf.h>
31 #include <core/threading/thread.h>
32 #include <plugins/gazebo/aspect/gazebo.h>
35 #include <gazebo/msgs/MessageTypes.hh>
36 #include <gazebo/transport/TransportTypes.hh>
37 #include <gazebo/transport/transport.hh>
40 class Position3DInterface;
61 gazebo::transport::SubscriberPtr localization_sub_;
62 std::string gps_topic_;
68 void on_localization_msg(ConstPosePtr &msg);
83 double transform_tolerance_;
86 std::string odom_frame_id_;
87 std::string global_frame_id_;