kurtana_pole_joint_commander: kurtana_pole_joint_commander: joint

00001 /*
00002  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
00003  * Copyright (C) 2012  University of Osnabrück
00004  *
00005  * This program is free software; you can redistribute it and/or
00006  * modify it under the terms of the GNU General Public License
00007  * as published by the Free Software Foundation; either version 2
00008  * of the License, or (at your option) any later version.
00009  *
00010  * This program is distributed in the hope that it will be useful,
00011  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00012  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013  * GNU General Public License for more details.
00014  *
00015  * You should have received a copy of the GNU General Public License
00016  * along with this program; if not, write to the Free Software
00017  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00018  *
00019  * joint_commander.h
00020  *
00021  *  Created on: 24.08.2012
00022  *      Author: Martin Günther <mguenthe@uos.de>
00023  */
00024 
00025 #ifndef JOINT_COMMANDER_H_
00026 #define JOINT_COMMANDER_H_
00027 
00028 #include <ros/ros.h>
00029 
00030 #include <dynamic_reconfigure/server.h>
00031 #include <kurtana_pole_joint_commander/JointCommanderConfig.h>
00032 
00033 #include <std_msgs/Float64.h>
00034 #include <sensor_msgs/JointState.h>
00035 
00036 namespace kurtana_pole_joint_commander
00037 {
00038 
00039 class JointCommander
00040 {
00041 public:
00042   JointCommander();
00043   virtual ~JointCommander();
00044   void update_config(kurtana_pole_joint_commander::JointCommanderConfig &new_config, uint32_t level = 0);
00045   void loop_once();
00046 
00047 private:
00048   // ROS
00049   ros::NodeHandle nh_;
00050   ros::Publisher stretch_controller_pub_;
00051   ros::Publisher roll_controller_pub_;
00052   ros::Publisher pitch_controller_pub_;
00053   ros::Publisher joint_states_pub_;
00054 
00055   // Dynamic Reconfigure
00056   JointCommanderConfig config_;
00057   dynamic_reconfigure::Server<kurtana_pole_joint_commander::JointCommanderConfig> dynamic_reconfigure_server_;
00058 
00059 };
00060 
00061 } /* namespace kurtana_pole_joint_commander */
00062 #endif /* JOINT_COMMANDER_H_ */