jointspub_alg_node.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author Àngel Santamaria-Navarro
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _jointspub_alg_node_h_
00026 #define _jointspub_alg_node_h_
00027 
00028 #include <iri_base_algorithm/iri_base_algorithm.h>
00029 #include "jointspub_alg.h"
00030 
00031 // [publisher subscriber headers]
00032 #include <gazebo_msgs/LinkStates.h>
00033 #include <gazebo_msgs/LinkState.h>
00034 #include <sensor_msgs/JointState.h>
00035 
00036 // [service client headers]
00037 #include <gazebo_msgs/SetLinkState.h>
00038 #include <gazebo_msgs/GetLinkState.h>
00039 
00040 // [action server client headers]
00041 
00046 class JointspubAlgNode : public algorithm_base::IriBaseAlgorithm<JointspubAlgorithm>
00047 {
00048   private:
00049     // [publisher attributes]
00050     ros::Publisher joints_publisher_;
00051     sensor_msgs::JointState Joints_;
00052    
00053     // [subscriber attributes]
00054     ros::Subscriber get_joints_subscriber_;
00055     void get_joints_callback(const gazebo_msgs::LinkStates::ConstPtr& msg);
00056     CMutex get_joints_mutex_;
00057 
00058     // [service attributes]
00059 
00060     // [client attributes]
00061 
00062     // [action server attributes]
00063 
00064     // [action client attributes]
00065 
00066   public:
00073     JointspubAlgNode(void);
00074 
00081     ~JointspubAlgNode(void);
00082 
00083   protected:
00096     void mainNodeThread(void);
00097     
00110     void node_config_update(Config &config, uint32_t level);
00111 
00118     void addNodeDiagnostics(void);
00119 
00120     // [diagnostic functions]
00121     
00122     // [test functions]
00123 };
00124 
00125 #endif


iri_jointspub
Author(s): asantamaria
autogenerated on Fri Dec 6 2013 20:59:22