23 #include "node_thread.h"
26 #include <gazebo/gazebo_config.h>
27 #include <google/protobuf/message.h>
29 #include <gazebo/msgs/msgs.hh>
30 #include <gazebo/transport/Node.hh>
31 #include <gazebo/transport/TransportIface.hh>
32 #include <gazebo/transport/TransportTypes.hh>
46 :
Thread(
"GazeboNodeThread",
Thread::OPMODE_WAITFORWAKEUP),
66 if (gazebo::transport::is_stopped()) {
67 gazebo::transport::init();
68 gazebo::transport::run();
75 gazebo::transport::NodePtr node(
new gazebo::transport::Node());
78 gazebonode_->Init(robot_channel.c_str());
82 gazebo_world_node_ = gazebo::transport::NodePtr(
new gazebo::transport::Node());
83 gazebo_world_node_->Init(world_name.c_str());
93 gazebo_world_node_->Fini();
94 gazebo_world_node_.reset();