back_joints_node.h

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#ifndef BACK_JOINTS_NODE_H_
#define BACK_JOINTS_NODE_H_

#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <dynamixel_msgs/MotorStateList.h>
#include <dynamixel_msgs/MotorState.h>
#include <math.h>

class back_joints
{
public:
  back_joints();
  void joints(const dynamixel_msgs::MotorStateList::ConstPtr& state);

private:
  // main node handle
  ros::NodeHandle node;

  // the ros subscriber and publisher
  ros::Subscriber asus_sub;
  ros::Publisher joint_states_pub;

  // map to store the ids and the link names of each servo connected
  std::map<int, std::string> back_servos;
};

#endif