22 #ifndef _PLUGINS_PERCEPTION_PCL_DB_ROS_PCL_DB_ROSCOMM_THREAD_H_ 23 #define _PLUGINS_PERCEPTION_PCL_DB_ROS_PCL_DB_ROSCOMM_THREAD_H_ 25 #include <aspect/blackboard.h> 26 #include <aspect/blocked_timing.h> 27 #include <aspect/configurable.h> 28 #include <aspect/logging.h> 29 #include <aspect/pointcloud.h> 30 #include <core/threading/thread.h> 31 #include <fawkes_msgs/MergePointClouds.h> 32 #include <fawkes_msgs/RecordData.h> 33 #include <fawkes_msgs/RetrievePointCloud.h> 34 #include <fawkes_msgs/StorePointCloud.h> 35 #include <plugins/ros/aspect/ros.h> 38 class PclDatabaseMergeInterface;
39 class PclDatabaseRetrieveInterface;
40 class PclDatabaseStoreInterface;
41 class BlackBoardOnUpdateWaker;
65 bool merge_cb(fawkes_msgs::MergePointClouds::Request & req,
66 fawkes_msgs::MergePointClouds::Response &resp);
67 bool retrieve_cb(fawkes_msgs::RetrievePointCloud::Request & req,
68 fawkes_msgs::RetrievePointCloud::Response &resp);
69 bool store_cb(fawkes_msgs::StorePointCloud::Request & req,
70 fawkes_msgs::StorePointCloud::Response &resp);
71 bool record_cb(fawkes_msgs::RecordData::Request &req, fawkes_msgs::RecordData::Response &resp);
82 fawkes::PclDatabaseMergeInterface * merge_if_;
83 fawkes::PclDatabaseRetrieveInterface *retrieve_if_;
84 fawkes::PclDatabaseStoreInterface * store_if_;
95 ros::ServiceServer *srv_merge_;
96 ros::ServiceServer *srv_retrieve_;
97 ros::ServiceServer *srv_store_;
98 ros::ServiceServer *srv_record_;
100 unsigned int merge_msg_id_;
101 unsigned int retrieve_msg_id_;
102 unsigned int store_msg_id_;
104 std::string cfg_store_pcl_id_;
virtual ~PointCloudDBROSCommThread()
Destructor.
Thread aspect to access to BlackBoard.
Wait until a given condition holds.
Thread aspect to get access to a ROS node handle.
Wake threads when a blackboard interface is updated.
Fawkes library namespace.
Thread aspect to provide and access point clouds.
Thread class encapsulation of pthreads.
Thread to merge point clouds from database on request.
Thread aspect to use blocked timing.
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
Thread aspect to log output.
PointCloudDBROSCommThread()
Constructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access configuration data.
virtual void loop()
Code to execute in the thread.