21 #ifndef _PLUGINS_ROS_ODOMETRY_THREAD_H_ 22 #define _PLUGINS_ROS_ODOMETRY_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 <plugins/ros/aspect/ros.h> 31 #include <ros/node_handle.h> 65 std::string cfg_odom_frame_id_;
66 std::string cfg_base_frame_id_;
67 boost::array<double, 36> odom_covariance_;
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access to BlackBoard.
Thread aspect to get access to a ROS node handle.
Fawkes library namespace.
Thread class encapsulation of pthreads.
virtual void loop()
Code to execute in the thread.
Thread aspect to use blocked timing.
ROSOdometryThread()
Constructor.
Thread to publish odometry to ROS.
Thread aspect to log output.
Thread aspect to access configuration data.
MotorInterface Fawkes BlackBoard Interface.
virtual void init()
Initialize the thread.