Fawkes API
Fawkes Development Version
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23 #ifndef _PLUGINS_GAZSIMTIMESOURCE_THREAD_H__
24 #define _PLUGINS_GAZSIMTIMESOURCE_THREAD_H__
26 #include "../msgs/SimTime.pb.h"
27 #include "gazsim_timesource_source.h"
29 #include <aspect/blocked_timing.h>
30 #include <aspect/clock.h>
31 #include <aspect/configurable.h>
32 #include <aspect/logging.h>
33 #include <core/threading/thread.h>
34 #include <google/protobuf/message.h>
35 #include <plugins/gazebo/aspect/gazebo.h>
37 #include <boost/asio.hpp>
38 #include <gazebo/physics/physics.hh>
40 typedef const boost::shared_ptr<gazsim_msgs::SimTime const> ConstSimTimePtr;
62 gazebo::transport::SubscriberPtr time_sync_sub_;
65 void on_time_sync_msg(ConstSimTimePtr &msg);
Thread aspect to get access to a Gazebo node handle.
This time-source provides the simulation time from Gazebo in Fawkes.
virtual void finalize()
Finalize the thread.
Thread aspect to use blocked timing.
virtual void init()
Initialize the thread.
Plugin provides the simulation time from gazebo.
Thread aspect to log output.
Thread class encapsulation of pthreads.
virtual void loop()
Code to execute in the thread.
Thread aspect to access configuration data.
Thread aspect that allows to obtain the current time from the clock.