segway_rmp200_driver_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author Sergi Hernandez & Joan Perez
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _segway_rmp200_driver_node_h_
#define _segway_rmp200_driver_node_h_

#include <iri_base_driver/iri_base_driver_node.h>
#include "segway_rmp200_driver.h"

// [publisher subscriber headers]
// #include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>
// #include <tf/transform_broadcaster.h>

// [service client headers]

// [action server client headers]

namespace segway_rmp200_node {

class SegwayRmp200DriverNode : public iri_base_driver::IriBaseNodeDriver<SegwayRmp200Driver>
{
  private:
    // [publisher attributes]
    ros::Publisher status_publisher_;
    iri_segway_rmp_msgs::SegwayRMP200Status segway_status_msg_;
    void updateSegwayStatus();

    // [subscriber attributes]
    ros::Subscriber cmd_platform_subscriber_;
    void cmd_platform_callback(const geometry_msgs::Twist::ConstPtr& msg);

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

    void postNodeOpenHook(void);

  public:
    SegwayRmp200DriverNode(ros::NodeHandle& nh);

    ~SegwayRmp200DriverNode();

  protected:
    CEventServer *event_server_;
    int segway_event_id_;

    void mainNodeThread(void);

    // [diagnostic functions]
    void check_configuration(diagnostic_updater::DiagnosticStatusWrapper &stat);
    void ui_battery_check(diagnostic_updater::DiagnosticStatusWrapper &stat);
    void pb_battery_check(diagnostic_updater::DiagnosticStatusWrapper &stat);

    void addNodeDiagnostics(void);

    // [driver test functions]

    void addNodeOpenedTests(void);

    void addNodeStoppedTests(void);

    void addNodeRunningTests(void);

    void reconfigureNodeHook(int level);

};

} // end of namespace

#endif