22 #ifndef _PLUGINS_VISPATHPLAN_VISPATHPLAN_THREAD_H_
23 #define _PLUGINS_VISPATHPLAN_VISPATHPLAN_THREAD_H_
25 #include "aspect/blocked_timing.h"
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <core/threading/mutex.h>
30 #include <core/threading/thread.h>
31 #include <core/utils/lockptr.h>
32 #include <navgraph/navgraph.h>
33 #include <navgraph/navgraph_path.h>
34 #include <plugins/ros/aspect/ros.h>
35 #include <ros/publisher.h>
36 #include <visualization_msgs/MarkerArray.h>
64 void add_circle_markers(visualization_msgs::MarkerArray &m,
69 unsigned int arc_length,
74 float line_width = 0.03);
75 float edge_cost_factor(std::list<std::tuple<std::string, std::string, std::string, float>> &costs,
76 const std::string & from,
77 const std::string & to,
78 std::string &constraint_name);
82 size_t constraints_last_id_num_;
83 ros::Publisher vispub_;
85 float cfg_cost_scale_max_;
89 std::string plan_from_;
94 std::string cfg_global_frame_;
96 visualization_msgs::MarkerArray markers_;
Send Marker messages to rviz to show navgraph info.
void set_constraint_repo(fawkes::LockPtr< fawkes::NavGraphConstraintRepo > &crepo)
Set the constraint repo.
NavGraphVisualizationThread()
Constructor.
virtual void loop()
Code to execute in the thread.
virtual void graph_changed() noexcept
Function called if the graph has been changed.
virtual void finalize()
Finalize the thread.
void set_current_edge(const std::string &from, const std::string &to)
Set the currently executed edge of the plan.
void set_graph(fawkes::LockPtr< fawkes::NavGraph > &graph)
Set the graph.
virtual void init()
Initialize the thread.
void set_traversal(fawkes::NavGraphPath::Traversal &traversal)
Set current path.
void reset_plan()
Reset the current plan.
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Thread aspect to log output.
Sub-class representing a navgraph path traversal.
Topological graph change listener.
Thread aspect to get access to a ROS node handle.
Thread class encapsulation of pthreads.