22#ifndef _PLUGINS_PERCEPTION_PCL_DB_ROS_PCL_DB_ROSCOMM_THREAD_H_
23#define _PLUGINS_PERCEPTION_PCL_DB_ROS_PCL_DB_ROSCOMM_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 <aspect/pointcloud.h>
30#include <core/threading/thread.h>
31#include <fawkes_msgs/MergePointClouds.h>
32#include <fawkes_msgs/RecordData.h>
33#include <fawkes_msgs/RetrievePointCloud.h>
34#include <fawkes_msgs/StorePointCloud.h>
35#include <plugins/ros/aspect/ros.h>
38class PclDatabaseMergeInterface;
39class PclDatabaseRetrieveInterface;
40class PclDatabaseStoreInterface;
41class BlackBoardOnUpdateWaker;
65 bool merge_cb(fawkes_msgs::MergePointClouds::Request & req,
66 fawkes_msgs::MergePointClouds::Response &resp);
67 bool retrieve_cb(fawkes_msgs::RetrievePointCloud::Request & req,
68 fawkes_msgs::RetrievePointCloud::Response &resp);
69 bool store_cb(fawkes_msgs::StorePointCloud::Request & req,
70 fawkes_msgs::StorePointCloud::Response &resp);
71 bool record_cb(fawkes_msgs::RecordData::Request &req, fawkes_msgs::RecordData::Response &resp);
82 fawkes::PclDatabaseMergeInterface * merge_if_;
83 fawkes::PclDatabaseRetrieveInterface *retrieve_if_;
84 fawkes::PclDatabaseStoreInterface * store_if_;
95 ros::ServiceServer *srv_merge_;
96 ros::ServiceServer *srv_retrieve_;
97 ros::ServiceServer *srv_store_;
98 ros::ServiceServer *srv_record_;
100 unsigned int merge_msg_id_;
101 unsigned int retrieve_msg_id_;
102 unsigned int store_msg_id_;
104 std::string cfg_store_pcl_id_;
Thread to merge point clouds from database on request.
virtual void loop()
Code to execute in the thread.
virtual void init()
Initialize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual ~PointCloudDBROSCommThread()
Destructor.
virtual void finalize()
Finalize the thread.
PointCloudDBROSCommThread()
Constructor.
Thread aspect to access to BlackBoard.
Wake threads when a blackboard interface is updated.
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Thread aspect to log output.
Thread aspect to provide and access point clouds.
Thread aspect to get access to a ROS node handle.
Thread class encapsulation of pthreads.
Wait until a given condition holds.
Fawkes library namespace.