00001 /* 00002 * Copyright 2015 Aldebaran 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 * 00016 */ 00017 00018 00019 #ifndef MOVETO_SUBSCRIBER_HPP 00020 #define MOVETO_SUBSCRIBER_HPP 00021 00022 /* 00023 * LOCAL includes 00024 */ 00025 #include "subscriber_base.hpp" 00026 00027 /* 00028 * ROS includes 00029 */ 00030 #include <ros/ros.h> 00031 #include <geometry_msgs/PoseStamped.h> 00032 #include <tf2_ros/buffer.h> 00033 00034 namespace naoqi 00035 { 00036 namespace subscriber 00037 { 00038 00039 class MovetoSubscriber: public BaseSubscriber<MovetoSubscriber> 00040 { 00041 public: 00042 MovetoSubscriber( const std::string& name, const std::string& topic, const qi::SessionPtr& session, const boost::shared_ptr<tf2_ros::Buffer>& tf2_buffer ); 00043 ~MovetoSubscriber(){} 00044 00045 void reset( ros::NodeHandle& nh ); 00046 void callback( const geometry_msgs::PoseStampedConstPtr& pose_msg ); 00047 00048 private: 00049 qi::AnyObject p_motion_; 00050 ros::Subscriber sub_moveto_; 00051 boost::shared_ptr<tf2_ros::Buffer> tf2_buffer_; 00052 }; // class Teleop 00053 00054 } // subscriber 00055 }// naoqi 00056 #endif