00001 00023 #ifndef TESTBB_H_ 00024 #define TESTBB_H_ 00025 00026 #include "std_msgs/String.h" 00027 #include "std_msgs/Int32.h" 00028 #include "nav_msgs/Odometry.h" 00029 #include "geometry_msgs/Twist.h" 00030 00031 #include "micros_swarm/micros_swarm.h" 00032 00033 namespace testbb{ 00034 00035 class TestBb : public micros_swarm::Application 00036 { 00037 public: 00038 ros::Timer timer; 00039 ros::Publisher pub; 00040 ros::Subscriber sub; 00041 00042 micros_swarm::BlackBoard<std_msgs::Int32> bb; 00043 00044 void baseCallback(const nav_msgs::Odometry& lmsg); 00045 void loop_put(const ros::TimerEvent&); 00046 void loop_get(const ros::TimerEvent&); 00047 00048 TestBb(); 00049 ~TestBb(); 00050 virtual void init(); 00051 virtual void start(); 00052 virtual void stop(); 00053 }; 00054 }; 00055 00056 #endif