21#ifndef _PLUGINS_ROS_IMU_THREAD_H_
22#define _PLUGINS_ROS_IMU_THREAD_H_
24#include <aspect/blackboard.h>
25#include <aspect/configurable.h>
26#include <aspect/logging.h>
27#include <blackboard/interface_listener.h>
28#include <core/threading/thread.h>
29#include <interfaces/IMUInterface.h>
30#include <plugins/ros/aspect/ros.h>
31#include <ros/node_handle.h>
50 ros::Publisher ros_pub_;
Thread to publish IMU data to ROS.
virtual void finalize()
Close all interfaces and ROS handles.
virtual void init()
Initialize the thread.
virtual ~RosIMUThread()
Destructor.
RosIMUThread()
Constructor.
virtual void bb_interface_data_refreshed(fawkes::Interface *interface) noexcept
Handle interface changes.
Thread aspect to access to BlackBoard.
BlackBoard interface listener.
Thread aspect to access configuration data.
IMUInterface Fawkes BlackBoard Interface.
Base class for all Fawkes BlackBoard interfaces.
Thread aspect to log output.
Thread aspect to get access to a ROS node handle.
Thread class encapsulation of pthreads.