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_;
Thread to publish Position3Ds to ROS.
virtual ~RosPosition3DThread()
Destructor.
virtual void init()
Initialize the thread.
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_data_changed(fawkes::Interface *interface)
BlackBoard data changed notification.
virtual void bb_interface_created(const char *type, const char *id)
BlackBoard interface created notification.
virtual void finalize()
Finalize the thread.
RosPosition3DThread()
Constructor.
virtual void bb_interface_writer_removed(fawkes::Interface *interface, unsigned int instance_serial)
A writing instance has been closed for a watched interface.
Thread aspect to access to BlackBoard.
BlackBoard interface listener.
BlackBoard interface observer.
Thread aspect to access configuration data.
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.