Fawkes API
Fawkes Development Version
navigator_plugin.cpp
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/***************************************************************************
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* navigator_plugin.cpp - Robotino ROS Navigator Plugin
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*
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* Created: Sat June 09 15:13:27 2012
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* Copyright 2012 Sebastian Reuter
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#include "navigator_thread.h"
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#include <core/plugin.h>
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using namespace
fawkes
;
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/** Send locomotion commands to ROS.
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* @author Sebastian Reuter
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*/
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class
RosNavigatorPlugin
:
public
fawkes::Plugin
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{
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public
:
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/** Constructor.
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* @param config Fawkes configuration
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*/
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explicit
RosNavigatorPlugin
(
Configuration
*config) :
Plugin
(config)
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{
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std::string prefix =
"/ros/navigator"
;
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std::string cfg_prefix = prefix +
"/"
;
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thread_list.push_back(
new
RosNavigatorThread
(cfg_prefix));
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}
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};
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PLUGIN_DESCRIPTION(
"Send locomotion commands to ROS"
)
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EXPORT_PLUGIN(
RosNavigatorPlugin
)
RosNavigatorThread
Send Fawkes locomotion commands off to ROS.
Definition:
navigator_thread.h:59
RosNavigatorPlugin::RosNavigatorPlugin
RosNavigatorPlugin(Configuration *config)
Constructor.
Definition:
navigator_plugin.cpp:37
fawkes::Configuration
Interface for configuration handling.
Definition:
config.h:65
fawkes
Fawkes library namespace.
RosNavigatorPlugin
Send locomotion commands to ROS.
Definition:
navigator_plugin.cpp:32
fawkes::Plugin
Plugin interface class.
Definition:
plugin.h:34
src
plugins
ros
navigator_plugin.cpp
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