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_;
Provide navgraph-like API through ROS.
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
RosNavgraphBreakoutThread()
Contructor.
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 use blocked timing.
Thread aspect to access configuration data.
Thread aspect to log output.
NavigatorInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Fawkes library namespace.