Fawkes API
Fawkes Development Version
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21 #ifndef _PLUGINS_ROS_CMDVEL_THREAD_H_
22 #define _PLUGINS_ROS_CMDVEL_THREAD_H_
24 #include <aspect/blackboard.h>
25 #include <aspect/blocked_timing.h>
26 #include <aspect/configurable.h>
27 #include <aspect/logging.h>
28 #include <core/threading/thread.h>
29 #include <core/utils/lockptr.h>
30 #include <geometry_msgs/Twist.h>
31 #include <plugins/ros/aspect/ros.h>
32 #include <ros/subscriber.h>
62 void send_transrot(
float vx,
float vy,
float omega);
63 void twist_msg_cb(
const geometry_msgs::Twist::ConstPtr &msg);
virtual void init()
Initialize the thread.
ROSCmdVelThread()
Constructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
MotorInterface Fawkes BlackBoard Interface.
virtual void finalize()
Finalize the thread.
Thread to translate ROS twist messages to navigator transrot messages.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
Thread aspect to get access to a ROS node handle.
virtual void loop()
Code to execute in the thread.
virtual bool prepare_finalize_user()
Prepare finalization user implementation.
Thread class encapsulation of pthreads.
Thread aspect to access configuration data.