Fawkes API
Fawkes Development Version
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21 #ifndef _PLUGINS_AMCL_ROS_THREAD_H_
22 #define _PLUGINS_AMCL_ROS_THREAD_H_
25 # error "ROS integration requires ROS support of system"
28 #include "amcl_thread.h"
32 #include <aspect/blackboard.h>
33 #include <aspect/configurable.h>
34 #include <aspect/logging.h>
35 #include <core/threading/thread.h>
36 #include <geometry_msgs/PoseWithCovarianceStamped.h>
37 #include <interfaces/LocalizationInterface.h>
38 #include <plugins/ros/aspect/ros.h>
39 #include <ros/publisher.h>
40 #include <ros/subscriber.h>
62 void publish_pose_array(
const std::string &global_frame_id,
const pf_sample_set_t *set);
65 const double last_covariance[36]);
66 void publish_map(
const std::string &global_frame_id,
const map_t *map);
77 void initial_pose_received(
const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg);
80 std::string cfg_pose_ifname_;
84 ros::Publisher pose_pub_;
85 ros::Publisher particlecloud_pub_;
86 ros::Subscriber initial_pose_sub_;
87 ros::Publisher map_pub_;
Thread to perform Adaptive Monte Carlo Localization.
void publish_map(const std::string &global_frame_id, const map_t *map)
Publish map to ROS.
AmclROSThread()
Constructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread for ROS integration of the Adaptive Monte Carlo Localization.
LocalizationInterface Fawkes BlackBoard Interface.
virtual ~AmclROSThread()
Destructor.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
virtual void init()
Initialize the thread.
Thread aspect to get access to a ROS node handle.
void publish_pose(const std::string &global_frame_id, const amcl_hyp_t &amcl_hyp, const double last_covariance[36])
Publish pose with covariance to ROS.
Thread class encapsulation of pthreads.
virtual void finalize()
Finalize the thread.
Thread aspect to access configuration data.
virtual void loop()
Code to execute in the thread.
void publish_pose_array(const std::string &global_frame_id, const pf_sample_set_t *set)
Publish pose array to ROS.