Fawkes API
Fawkes Development Version
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21 #ifndef _PLUGINS_ROS_ODOMETRY_THREAD_H_
22 #define _PLUGINS_ROS_ODOMETRY_THREAD_H_
24 #include <aspect/blackboard.h>
25 #include <aspect/blocked_timing.h>
26 #include <aspect/configurable.h>
27 #include <aspect/logging.h>
28 #include <core/threading/thread.h>
29 #include <core/utils/lockptr.h>
30 #include <plugins/ros/aspect/ros.h>
31 #include <ros/node_handle.h>
65 std::string cfg_odom_frame_id_;
66 std::string cfg_base_frame_id_;
67 boost::array<double, 36> odom_covariance_;
virtual void finalize()
Finalize the thread.
Thread to publish odometry to ROS.
virtual void loop()
Code to execute in the thread.
Thread aspect to use blocked timing.
MotorInterface Fawkes BlackBoard Interface.
ROSOdometryThread()
Constructor.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
Thread aspect to get access to a ROS node handle.
Thread class encapsulation of pthreads.
Thread aspect to access configuration data.
virtual void init()
Initialize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.