24 #include <core/threading/thread_finalizer.h>
25 #include <plugins/ros/aspect/ros_inifin.h>
26 #include <ros/node_handle.h>
46 ros_thread =
dynamic_cast<ROSAspect *
>(thread);
47 if (ros_thread == NULL) {
49 "ROSAspect, but RTTI says it "
57 ros_thread->init_ROSAspect(rosnode_);
63 ROSAspect *ros_thread;
64 ros_thread =
dynamic_cast<ROSAspect *
>(thread);
65 if (ros_thread == NULL) {
66 throw CannotFinalizeThreadException(
"Thread '%s' claims to have the "
67 "ROSAspect, but RTTI says it "
71 ros_thread->finalize_ROSAspect();