22#ifndef _PLUGINS_NAVGRAPH_GENERATOR_VISUALIZATION_THREAD_H_
23#define _PLUGINS_NAVGRAPH_GENERATOR_VISUALIZATION_THREAD_H_
25#include "navgraph_generator_thread.h"
27#include <aspect/configurable.h>
28#include <aspect/logging.h>
29#include <core/threading/mutex.h>
30#include <core/threading/thread.h>
31#include <plugins/ros/aspect/ros.h>
32#include <ros/publisher.h>
33#include <visualization_msgs/MarkerArray.h>
47 void publish(
const NavGraphGeneratorThread::ObstacleMap &obstacles,
48 const NavGraphGeneratorThread::ObstacleMap &map_obstacles,
49 const NavGraphGeneratorThread::PoiMap & pois);
52 std::string cfg_global_frame_;
55 ros::Publisher vispub_;
57 NavGraphGeneratorThread::ObstacleMap obstacles_;
58 NavGraphGeneratorThread::ObstacleMap map_obstacles_;
59 NavGraphGeneratorThread::PoiMap pois_;
Send Marker messages to rviz to show navgraph-generator info.
virtual void loop()
Code to execute in the thread.
void publish(const NavGraphGeneratorThread::ObstacleMap &obstacles, const NavGraphGeneratorThread::ObstacleMap &map_obstacles, const NavGraphGeneratorThread::PoiMap &pois)
Trigger publishing of visualization.
virtual void init()
Initialize the thread.
NavGraphGeneratorVisualizationThread()
Constructor.
virtual void finalize()
Finalize the thread.
Thread aspect to access configuration data.
Thread aspect to log output.
Thread aspect to get access to a ROS node handle.
Thread class encapsulation of pthreads.