22#ifndef _PLUGINS_GAZSIM_LOCALIZATION_THREAD_H_
23#define _PLUGINS_GAZSIM_LOCALIZATION_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>
31#include <core/threading/thread.h>
32#include <plugins/gazebo/aspect/gazebo.h>
35#include <gazebo/msgs/MessageTypes.hh>
36#include <gazebo/transport/TransportTypes.hh>
37#include <gazebo/transport/transport.hh>
40class Position3DInterface;
61 gazebo::transport::SubscriberPtr localization_sub_;
62 std::string gps_topic_;
68 void on_localization_msg(ConstPosePtr &msg);
83 double transform_tolerance_;
86 std::string odom_frame_id_;
87 std::string global_frame_id_;
Thread simulates the Localization in Gazebo.
LocalizationSimThread()
Constructor.
virtual void finalize()
Finalize the thread.
virtual void loop()
Code to execute in the thread.
virtual void init()
Initialize the thread.
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.
Position3DInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Fawkes library namespace.