00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 00033 #ifndef JOINT_HANDLER_H 00034 #define JOINT_HANDLER_H 00035 00036 #include "simple_message/message_handler.h" 00037 #include "ros/ros.h" 00038 //#include <pr2_controllers_msgs/JointTrajectoryControllerState.h> 00039 #include <control_msgs/FollowJointTrajectoryAction.h> 00040 #include <control_msgs/FollowJointTrajectoryFeedback.h> 00041 #include <sensor_msgs/JointState.h> 00042 00043 00044 namespace motoman 00045 { 00046 namespace joint_relay_handler 00047 { 00048 00053 //* JointRelayHandler 00059 class JointRelayHandler : public industrial::message_handler::MessageHandler 00060 { 00061 00062 public: 00063 00069 JointRelayHandler(ros::NodeHandle &n); 00070 00071 00079 bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection); 00080 00089 bool init(int msg_type, industrial::smpl_msg_connection::SmplMsgConnection* connection) 00090 { return MessageHandler::init(msg_type, connection);}; 00091 00092 00093 private: 00094 00095 //pr2_controllers_msgs::JointTrajectoryControllerState joint_control_state_; 00096 control_msgs::FollowJointTrajectoryFeedback joint_control_state_; 00097 sensor_msgs::JointState joint_sensor_state_; 00098 ros::Publisher pub_joint_control_state_; 00099 ros::Publisher pub_joint_sensor_state_; 00100 ros::NodeHandle node_; 00101 00102 static const int NUM_OF_JOINTS_ = 7; 00103 00111 bool internalCB(industrial::simple_message::SimpleMessage & in); 00112 }; 00113 00114 }//ping_handler 00115 }//industrial 00116 00117 00118 #endif /* JOINT_HANDLER_H */