00001
00027 #ifndef VALVES_H_
00028 #define VALVES_H_
00029
00030 #include <robot/config.h>
00031 #include <robot/robot.h>
00032 #include <robot/hand.h>
00033 #include <robot/hand_protocol.h>
00034 #include <ros/ros.h>
00035
00036 #include <std_msgs/Float64.h>
00037
00038 namespace shadowrobot
00039 {
00040
00041 class Valves
00042 {
00043 public:
00047 Valves();
00049 ~Valves();
00050
00051 void publish();
00052
00053 private:
00054 void valve_command(const std_msgs::Float64ConstPtr& msg, int index_valve);
00055
00056 std::vector<struct sensor> valves_sensors;
00057
00058 std::vector<ros::Publisher> valves_publishers;
00059 std::vector<ros::Subscriber> valves_subscribers;
00060
00061 ros::NodeHandle n_tilde;
00062 ros::Rate publish_rate;
00063
00064 void init_subs_and_pubs(int index_joint);
00065 };
00066
00067 }
00068
00069 #endif
00070
00071
00072
00073
00074
00075
00076