23 #ifndef _PLUGINS_GAZEBO_NODE_THREAD_H_ 24 #define _PLUGINS_GAZEBO_NODE_THREAD_H_ 26 #include <aspect/aspect_provider.h> 27 #include <aspect/blocked_timing.h> 28 #include <aspect/clock.h> 29 #include <aspect/configurable.h> 30 #include <aspect/logging.h> 31 #include <core/threading/thread.h> 32 #include <plugins/gazebo/aspect/gazebo_inifin.h> 33 #include <sys/types.h> 34 #include <utils/time/time.h> 69 gazebo::transport::NodePtr gazebonode_;
71 gazebo::transport::NodePtr gazebo_world_node_;
73 gazebo::transport::PublisherPtr visual_publisher_, model_publisher_, request_publisher_,
79 std::string robot_channel, world_name;
Thread aspect that allows to obtain the current time from the clock.
virtual void run()
Stub to see name in backtrace for easier debugging.
Gazebo node handle thread.
Thread class encapsulation of pthreads.
Thread aspect to use blocked timing.
virtual void init()
Initialize the thread.
Thread aspect to log output.
virtual void loop()
Code to execute in the thread.
Thread aspect provide a new aspect.
GazeboNodeThread()
Constructor.
Thread aspect to access configuration data.
virtual ~GazeboNodeThread()
Destructor.
virtual void finalize()
Finalize the thread.
GazeboAspect initializer/finalizer.