00001 /* 00002 * UOS-ROS packages - Robot Operating System code by the University of Osnabrück 00003 * Copyright (C) 2010 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 * JointStatePublisher.h 00020 * 00021 * Created on: 06.12.2010 00022 * Author: Martin Günther <mguenthe@uos.de> 00023 */ 00024 00025 #ifndef JOINTSTATEPUBLISHER_H_ 00026 #define JOINTSTATEPUBLISHER_H_ 00027 00028 #include "ros/ros.h" 00029 #include "sensor_msgs/JointState.h" 00030 00031 #include <vector> 00032 00033 #include <katana/AbstractKatana.h> 00034 00035 namespace katana 00036 { 00037 00038 class JointStatePublisher 00039 { 00040 public: 00041 JointStatePublisher(boost::shared_ptr<AbstractKatana>); 00042 virtual ~JointStatePublisher(); 00043 void update(); 00044 00045 private: 00046 boost::shared_ptr<AbstractKatana> katana; 00047 ros::Publisher pub; 00048 00049 }; 00050 00051 } 00052 00053 #endif /* JOINTSTATEPUBLISHER_H_ */