Fawkes API
Fawkes Development Version
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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_;
virtual void loop()
Code to execute in the thread.
Thread aspect to get access to a Gazebo node handle.
virtual void finalize()
Finalize the thread.
Thread aspect to use blocked timing.
virtual void init()
Initialize the thread.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
Thread simulates the Hokuyo in Gazebo.
A class for handling time.
Thread class encapsulation of pthreads.
Thread aspect to access configuration data.
Laser360Interface Fawkes BlackBoard Interface.
Thread aspect that allows to obtain the current time from the clock.
LaserSimThread()
Constructor.