Fawkes API
Fawkes Development Version
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22 #ifndef _PLUGINS_GAZSIM_LOCALIZATION_THREAD_H_
23 #define _PLUGINS_GAZSIM_LOCALIZATION_THREAD_H_
25 #include <aspect/blackboard.h>
26 #include <aspect/blocked_timing.h>
27 #include <aspect/clock.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <aspect/tf.h>
31 #include <core/threading/thread.h>
32 #include <plugins/gazebo/aspect/gazebo.h>
35 #include <gazebo/msgs/MessageTypes.hh>
36 #include <gazebo/transport/TransportTypes.hh>
37 #include <gazebo/transport/transport.hh>
40 class Position3DInterface;
61 gazebo::transport::SubscriberPtr localization_sub_;
62 std::string gps_topic_;
68 void on_localization_msg(ConstPosePtr &msg);
83 double transform_tolerance_;
86 std::string odom_frame_id_;
87 std::string global_frame_id_;
Thread aspect to get access to a Gazebo node handle.
Thread aspect to use blocked timing.
virtual void loop()
Code to execute in the thread.
LocalizationSimThread()
Constructor.
Thread simulates the Localization in Gazebo.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
Thread class encapsulation of pthreads.
Position3DInterface Fawkes BlackBoard Interface.
Thread aspect to access configuration data.
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
Thread aspect that allows to obtain the current time from the clock.