22 #ifndef _PLUGINS_ROS_JOINT_THREAD_H_
23 #define _PLUGINS_ROS_JOINT_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <blackboard/interface_listener.h>
30 #include <blackboard/interface_observer.h>
31 #include <core/threading/mutex.h>
32 #include <core/threading/thread.h>
33 #include <interfaces/JointInterface.h>
34 #include <plugins/ros/aspect/ros.h>
39 #include <ros/node_handle.h>
57 unsigned int instance_serial)
throw();
59 unsigned int instance_serial)
throw();
66 ros::Publisher ros_pub_;
67 std::list<fawkes::JointInterface *> ifs_;
Thread to publish JointStates to ROS.
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 finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
virtual void bb_interface_created(const char *type, const char *id)
BlackBoard interface created notification.
virtual void bb_interface_writer_removed(fawkes::Interface *interface, unsigned int instance_serial)
A writing instance has been closed for a watched interface.
virtual ~RosJointThread()
Destructor.
RosJointThread()
Constructor.
virtual void bb_interface_data_changed(fawkes::Interface *interface)
BlackBoard data changed notification.
Thread aspect to access to BlackBoard.
BlackBoard interface listener.
BlackBoard interface observer.
Base class for all Fawkes BlackBoard interfaces.
Thread aspect to log output.
Thread aspect to get access to a ROS node handle.
Thread class encapsulation of pthreads.