Fawkes API
Fawkes Development Version
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22 #ifndef _PLUGINS_ROS_POSITION_3D_THREAD_H_
23 #define _PLUGINS_ROS_POSITION_3D_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <blackboard/interface_listener.h>
31 #include <blackboard/interface_observer.h>
32 #include <core/threading/mutex.h>
33 #include <core/threading/thread.h>
34 #include <interfaces/Position3DInterface.h>
35 #include <plugins/ros/aspect/ros.h>
40 #include <ros/node_handle.h>
59 unsigned int instance_serial)
throw();
61 unsigned int instance_serial)
throw();
68 ros::Publisher ros_pub_;
69 std::list<fawkes::Position3DInterface *> ifs_;
70 std::string cfg_ros_topic_;
virtual void bb_interface_reader_removed(fawkes::Interface *interface, unsigned int instance_serial)
A reading instance has been closed for a watched interface.
virtual void bb_interface_created(const char *type, const char *id)
BlackBoard interface created notification.
BlackBoard interface listener.
Thread to publish Position3Ds to ROS.
virtual void bb_interface_data_changed(fawkes::Interface *interface)
BlackBoard data changed notification.
virtual ~RosPosition3DThread()
Destructor.
RosPosition3DThread()
Constructor.
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
Thread aspect to access to BlackBoard.
Thread aspect to log output.
Thread aspect to get access to a ROS node handle.
BlackBoard interface observer.
Base class for all Fawkes BlackBoard interfaces.
Thread class encapsulation of pthreads.
Thread aspect to access configuration data.
virtual void bb_interface_writer_removed(fawkes::Interface *interface, unsigned int instance_serial)
A writing instance has been closed for a watched interface.