Fawkes API
Fawkes Development Version
robot_state_publisher_plugin.cpp
1
/***************************************************************************
2
* robot_state_publisher_plugin.cpp - Robot State Publisher Plugin
3
*
4
* Created on Thu Aug 22 11:18:00 2013
5
* Copyright (C) 2013 by Till Hofmann, AllemaniACs RoboCup Team
6
*
7
****************************************************************************/
8
9
/* This program is free software; you can redistribute it and/or modify
10
* it under the terms of the GNU General Public License as published by
11
* the Free Software Foundation; either version 2 of the License, or
12
* (at your option) any later version.
13
*
14
* This program is distributed in the hope that it will be useful,
15
* but WITHOUT ANY WARRANTY; without even the implied warranty of
16
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17
* GNU Library General Public License for more details.
18
*
19
* Read the full text in the LICENSE.GPL file in the doc directory.
20
*/
21
22
#include "robot_state_publisher_thread.h"
23
24
#include <core/plugin.h>
25
26
using namespace
fawkes
;
27
28
/** This plugin publishes the robot's transforms given a URDF
29
* model and joint values for the robot's joints
30
* @author Till Hofmann
31
*/
32
33
class
RobotStatePublisherPlugin
:
public
fawkes::Plugin
34
{
35
public
:
36
/** Constructor.
37
* @param config Fawkes configuration
38
*/
39
explicit
RobotStatePublisherPlugin
(
Configuration
*config) :
Plugin
(config)
40
{
41
thread_list.push_back(
new
RobotStatePublisherThread
());
42
}
43
};
44
45
PLUGIN_DESCRIPTION(
"Publishes transforms given a robot model and joint values"
)
46
EXPORT_PLUGIN(
RobotStatePublisherPlugin
)
fawkes::Configuration
Definition:
config.h:70
RobotStatePublisherThread
Definition:
robot_state_publisher_thread.h:102
fawkes
RobotStatePublisherPlugin
This plugin publishes the robot's transforms given a URDF model and joint values for the robot's join...
Definition:
robot_state_publisher_plugin.cpp:33
RobotStatePublisherPlugin::RobotStatePublisherPlugin
RobotStatePublisherPlugin(Configuration *config)
Constructor.
Definition:
robot_state_publisher_plugin.cpp:39
fawkes::Plugin
Definition:
plugin.h:39
src
plugins
robot_state_publisher
robot_state_publisher_plugin.cpp
Generated by
1.8.17