22#ifndef _PLUGINS_ROS_LASERSCAN_THREAD_H_
23#define _PLUGINS_ROS_LASERSCAN_THREAD_H_
25#include <aspect/blackboard.h>
26#include <aspect/blocked_timing.h>
27#include <aspect/configurable.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/Laser1080Interface.h>
34#include <interfaces/Laser360Interface.h>
35#include <interfaces/Laser720Interface.h>
36#include <plugins/ros/aspect/ros.h>
37#include <ros/node_handle.h>
38#include <sensor_msgs/LaserScan.h>
39#include <utils/time/time.h>
72 void laser_scan_message_cb(
const ros::MessageEvent<sensor_msgs::LaserScan const> &msg_evt);
74 std::string topic_name(
const char *if_id,
const char *suffix);
85 std::list<fawkes::Laser360Interface *> ls360_ifs_;
86 std::list<fawkes::Laser720Interface *> ls720_ifs_;
87 std::list<fawkes::Laser1080Interface *> ls1080_ifs_;
89 ros::Subscriber sub_ls_;
95 sensor_msgs::LaserScan msg;
98 std::map<std::string, PublisherInfo> pubs_;
101 unsigned int active_queue_;
102 std::queue<ros::MessageEvent<sensor_msgs::LaserScan const>> ls_msg_queues_[2];
104 std::map<std::string, fawkes::Laser360Interface *> ls360_wifs_;
107 unsigned int seq_num_;
Thread to exchange point clouds between Fawkes and ROS.
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 void finalize()
Finalize the thread.
virtual void bb_interface_data_refreshed(fawkes::Interface *interface) noexcept
BlackBoard data refreshed notification.
virtual void loop()
Code to execute in 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 run()
Stub to see name in backtrace for easier debugging.
virtual void bb_interface_created(const char *type, const char *id) noexcept
BlackBoard interface created notification.
virtual ~RosLaserScanThread()
Destructor.
virtual void init()
Initialize the thread.
RosLaserScanThread()
Constructor.
Thread aspect to access to BlackBoard.
BlackBoard interface listener.
BlackBoard interface observer.
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Base class for all Fawkes BlackBoard interfaces.
Thread aspect to log output.
Mutex mutual exclusion lock.
Thread aspect to get access to a ROS node handle.
Thread class encapsulation of pthreads.
A convenience class for universally unique identifiers (UUIDs).