21#ifndef _PLUGINS_ROS_CMDVEL_THREAD_H_
22#define _PLUGINS_ROS_CMDVEL_THREAD_H_
24#include <aspect/blackboard.h>
25#include <aspect/blocked_timing.h>
26#include <aspect/configurable.h>
27#include <aspect/logging.h>
28#include <core/threading/thread.h>
29#include <core/utils/lockptr.h>
30#include <geometry_msgs/Twist.h>
31#include <plugins/ros/aspect/ros.h>
32#include <ros/subscriber.h>
62 void send_transrot(
float vx,
float vy,
float omega);
63 void twist_msg_cb(
const geometry_msgs::Twist::ConstPtr &msg);
Thread to translate ROS twist messages to navigator transrot messages.
ROSCmdVelThread()
Constructor.
virtual void loop()
Code to execute in the thread.
virtual bool prepare_finalize_user()
Prepare finalization user implementation.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access to BlackBoard.
Thread aspect to access configuration data.
Thread aspect to log output.
MotorInterface Fawkes BlackBoard Interface.
Thread aspect to get access to a ROS node handle.
Thread class encapsulation of pthreads.
Fawkes library namespace.