22#ifndef _PLUGINS_GAZSIM_DEPTHCAM_THREAD_H_
23#define _PLUGINS_GAZSIM_DEPTHCAM_THREAD_H_
25#include <aspect/blackboard.h>
26#include <aspect/blocked_timing.h>
27#include <aspect/clock.h>
28#include <aspect/configurable.h>
29#include <aspect/logging.h>
30#include <aspect/pointcloud.h>
31#include <core/threading/thread.h>
32#include <pcl/point_cloud.h>
33#include <pcl/point_types.h>
34#include <plugins/gazebo/aspect/gazebo.h>
39#include <gazebo/msgs/MessageTypes.hh>
40#include <gazebo/transport/TransportTypes.hh>
41#include <gazebo/transport/transport.hh>
60 gazebo::transport::SubscriberPtr depthcam_sub_;
63 void on_depthcam_data_msg(ConstPointCloudPtr &msg);
67 std::string topic_name_;
Thread simulates a number of depthcams in Gazebo.
virtual void finalize()
Finalize the thread.
virtual void loop()
Code to execute in the thread.
virtual void init()
Initialize the thread.
DepthcamSimThread()
Constructor.
Thread aspect to access to BlackBoard.
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Thread aspect to access configuration data.
Thread aspect to get access to a Gazebo node handle.
Thread aspect to log output.
Thread aspect to provide and access point clouds.
RefPtr<> is a reference-counting shared smartpointer.
Thread class encapsulation of pthreads.