Fawkes API
Fawkes Development Version
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22 #ifndef _ROS_NAVGRAPH_BREAKOUT_THREAD_H_
23 #define _ROS_NAVGRAPH_BREAKOUT_THREAD_H_
25 #include <actionlib/client/simple_action_client.h>
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <core/threading/thread.h>
31 #include <fawkes_msgs/NavGraphGotoAction.h>
32 #include <fawkes_msgs/NavGraphGotoGoal.h>
38 class NavigatorInterface;
63 typedef actionlib::SimpleActionClient<fawkes_msgs::NavGraphGotoAction> NavGraphGotoClient;
65 std::string cfg_action_topic_;
68 NavGraphGotoClient * ac_;
69 fawkes_msgs::NavGraphGotoGoal goal_;
virtual void loop()
Code to execute in the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to use blocked timing.
Provide navgraph-like API through ROS.
virtual void init()
Initialize the thread.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
RosNavgraphBreakoutThread()
Contructor.
virtual void finalize()
Finalize the thread.
Thread class encapsulation of pthreads.
Thread aspect to access configuration data.
NavigatorInterface Fawkes BlackBoard Interface.