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_;
Thread to publish odometry to ROS.
ROSOdometryThread()
Constructor.
virtual void finalize()
Finalize the thread.
virtual void loop()
Code to execute in the thread.
virtual void init()
Initialize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access to BlackBoard.
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Thread aspect to log output.
MotorInterface Fawkes BlackBoard Interface.
Thread aspect to get access to a ROS node handle.
Thread class encapsulation of pthreads.
Fawkes library namespace.