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>
66 ros::Publisher ros_pub_;
67 std::list<fawkes::JointInterface *> ifs_;
Thread to publish JointStates to ROS.
virtual void bb_interface_created(const char *type, const char *id) noexcept
BlackBoard interface created notification.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
virtual void bb_interface_writer_removed(fawkes::Interface *interface, fawkes::Uuid instance_serial) noexcept
A writing instance has been closed for a watched interface.
virtual void bb_interface_data_refreshed(fawkes::Interface *interface) noexcept
BlackBoard data refreshed notification.
virtual void bb_interface_reader_removed(fawkes::Interface *interface, fawkes::Uuid instance_serial) noexcept
A reading instance has been closed for a watched interface.
virtual ~RosJointThread()
Destructor.
RosJointThread()
Constructor.
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.
A convenience class for universally unique identifiers (UUIDs).