22 #ifndef _ROS_NAVGRAPH_BREAKOUT_THREAD_H_ 23 #define _ROS_NAVGRAPH_BREAKOUT_THREAD_H_ 25 #include <actionlib/client/simple_action_client.h> 26 #include <aspect/blackboard.h> 27 #include <aspect/blocked_timing.h> 28 #include <aspect/configurable.h> 29 #include <aspect/logging.h> 30 #include <core/threading/thread.h> 31 #include <fawkes_msgs/NavGraphGotoAction.h> 32 #include <fawkes_msgs/NavGraphGotoGoal.h> 38 class NavigatorInterface;
63 typedef actionlib::SimpleActionClient<fawkes_msgs::NavGraphGotoAction> NavGraphGotoClient;
65 std::string cfg_action_topic_;
68 NavGraphGotoClient * ac_;
69 fawkes_msgs::NavGraphGotoGoal goal_;
RosNavgraphBreakoutThread()
Contructor.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread class encapsulation of pthreads.
virtual void loop()
Code to execute in the thread.
Thread aspect to use blocked timing.
virtual void init()
Initialize the thread.
Provide navgraph-like API through ROS.
Thread aspect to log output.
Thread aspect to access configuration data.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void finalize()
Finalize the thread.
NavigatorInterface Fawkes BlackBoard Interface.