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_;