57 #ifndef _PLUGINS_ROBOTSTATEPUBLISHER_ROBOTSTATEPUBLISHER_THREAD_H_
58 #define _PLUGINS_ROBOTSTATEPUBLISHER_ROBOTSTATEPUBLISHER_THREAD_H_
60 #include <aspect/blackboard.h>
61 #include <aspect/blocked_timing.h>
62 #include <aspect/clock.h>
63 #include <aspect/configurable.h>
64 #include <aspect/logging.h>
65 #include <aspect/tf.h>
66 #include <blackboard/interface_listener.h>
67 #include <blackboard/interface_observer.h>
68 #include <core/threading/thread.h>
69 #include <interfaces/JointInterface.h>
71 #include <kdl/frames.hpp>
72 #include <kdl/kdl.hpp>
73 #include <kdl/segment.hpp>
74 #include <kdl/tree.hpp>
89 SegmentPair(
const KDL::Segment &p_segment,
const std::string &p_root,
const std::string &p_tip)
125 unsigned int instance_serial)
throw();
127 unsigned int instance_serial)
throw();
130 void publish_fixed_transforms();
132 void add_children(
const KDL::SegmentMap::const_iterator segment);
133 void transform_kdl_to_tf(
const KDL::Frame &k, fawkes::tf::Transform &t);
134 bool joint_is_in_model(
const char *
id);
138 std::map<std::string, SegmentPair> segments_, segments_fixed_;
140 std::string cfg_urdf_path_;
141 float cfg_postdate_to_future_;
143 std::list<fawkes::JointInterface *> ifs_;
Thread to publish the robot's transforms.
RobotStatePublisherThread()
Constructor.
virtual void bb_interface_data_changed(fawkes::Interface *interface)
BlackBoard data changed notification.
virtual void finalize()
Finalize the thread.
virtual void bb_interface_created(const char *type, const char *id)
BlackBoard interface created notification.
virtual void loop()
Code to execute in the thread.
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_writer_removed(fawkes::Interface *interface, unsigned int instance_serial)
A writing instance has been closed for a watched interface.
This class represents the segment between a parent and a child joint.
std::string tip
The name of the child joint.
KDL::Segment segment
The segment of the joint pair.
SegmentPair(const KDL::Segment &p_segment, const std::string &p_root, const std::string &p_tip)
Constructor.
std::string root
The name of the parent joint.
Thread aspect to access to BlackBoard.
BlackBoard interface listener.
BlackBoard interface observer.
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Thread aspect to access configuration data.
Base class for all Fawkes BlackBoard interfaces.
Thread aspect to log output.
Thread class encapsulation of pthreads.