head_pointer.h

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#ifndef HEAD_POINTER_H_
#define HEAD_POINTER_H_

#include <ros/ros.h>

#include <pr2_controllers_msgs/PointHeadAction.h>

#include <actionlib/client/simple_action_client.h>

#include <sensor_msgs/Joy.h>

class HeadPointer
{
public:
  HeadPointer( ros::NodeHandle pnh, std::string action_topic );
  virtual ~HeadPointer();

  void joyCb( sensor_msgs::JoyConstPtr joy_msg );

  typedef actionlib::SimpleActionClient<pr2_controllers_msgs::PointHeadAction> PointHeadActionClient;
  PointHeadActionClient point_head_action_client_;

  ros::Time last_update_time_;
  ros::NodeHandle nh_;
  ros::Subscriber joy_sub_;

  pr2_controllers_msgs::PointHeadGoal point_head_goal_;

  double update_freq_;

  int deadman_button_;
};


#endif /* HEAD_POINTER_H_ */