Fawkes API
Fawkes Development Version
move_base_plugin.cpp
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/***************************************************************************
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* move_base_plugin.cpp - Emulate ROS move_base
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*
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* Created: Wed May 07 13:47:29 2014
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* Copyright 2014 Tim Niemueller [www.niemueller.de]
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#include "move_base_thread.h"
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#include <core/plugin.h>
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using namespace
fawkes
;
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/** Send locomotion commands to ROS.
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* @author Sebastian Reuter
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*/
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class
RosMoveBasePlugin
:
public
fawkes::Plugin
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{
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public
:
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/** Constructor.
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* @param config Fawkes configuration
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*/
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explicit
RosMoveBasePlugin
(
Configuration
*config) :
Plugin
(config)
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{
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thread_list.push_back(
new
RosMoveBaseThread
());
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}
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};
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PLUGIN_DESCRIPTION(
"Accept move_base commands from ROS"
)
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EXPORT_PLUGIN(
RosMoveBasePlugin
)
RosMoveBaseThread
Definition:
move_base_thread.h:45
fawkes::Configuration
Definition:
config.h:68
fawkes
RosMoveBasePlugin::RosMoveBasePlugin
RosMoveBasePlugin(Configuration *config)
Constructor.
Definition:
move_base_plugin.cpp:37
RosMoveBasePlugin
Send locomotion commands to ROS.
Definition:
move_base_plugin.cpp:31
fawkes::Plugin
Definition:
plugin.h:37
src
plugins
ros
move_base_plugin.cpp
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