21 #ifndef _PLUGINS_GAZSIM_LASER_THREAD_H_
22 #define _PLUGINS_GAZSIM_LASER_THREAD_H_
24 #include <aspect/blackboard.h>
25 #include <aspect/blocked_timing.h>
26 #include <aspect/clock.h>
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <core/threading/thread.h>
30 #include <plugins/gazebo/aspect/gazebo.h>
33 #include <gazebo/msgs/MessageTypes.hh>
34 #include <gazebo/transport/TransportTypes.hh>
35 #include <gazebo/transport/transport.hh>
38 class Laser360Interface;
59 gazebo::transport::SubscriberPtr laser_sub_;
60 std::string laser_topic_;
73 void on_laser_data_msg(ConstLaserScanStampedPtr &msg);
78 std::string interface_id_;
79 std::string frame_id_;