00001 #ifndef MINTIMENODE_ 00002 #define MINTIMENODE_ 00003 #include "ros/ros.h" 00004 #include "kinematics_msgs/GetKinematicSolverInfo.h" 00005 #include "spline_smoother/cubic_trajectory.h" 00006 #include "rcommander_pr2_gui/MinTime.h" 00007 00008 class MinTimeNode 00009 { 00010 protected: 00011 ros::NodeHandle n_; 00012 ros::ServiceServer min_time_service; 00013 kinematics_msgs::GetKinematicSolverInfo left_info; 00014 kinematics_msgs::GetKinematicSolverInfo right_info; 00015 bool has_left; 00016 bool has_right; 00017 00018 public: 00019 MinTimeNode(ros::NodeHandle &); 00020 bool min_time_srv_cb(rcommander_pr2_gui::MinTime::Request &, rcommander_pr2_gui::MinTime::Response &); 00021 }; 00022 00023 #endif //MINTIMENODE_ 00024