joint_state_listener.h

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/* Author: Wim Meeussen */

#ifndef JOINT_STATE_LISTENER_H
#define JOINT_STATE_LISTENER_H

#include <urdf/model.h>
#include <kdl/tree.hpp>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>

#include "robot_state_publisher/robot_state_publisher.h"

using namespace std;
using namespace ros;
using namespace KDL;

typedef boost::shared_ptr<sensor_msgs::JointState const> JointStateConstPtr;
typedef std::map<std::string, boost::shared_ptr<urdf::JointMimic> > MimicMap;

namespace robot_state_publisher {

class JointStateListener {
public:
  JointStateListener(const KDL::Tree& tree, const MimicMap& m, const urdf::Model& model = urdf::Model());

  ~JointStateListener();

private:
  void callbackJointState(const JointStateConstPtr& state);
  void callbackFixedJoint(const ros::TimerEvent& e);

  std::string tf_prefix_;
  Duration publish_interval_;
  robot_state_publisher::RobotStatePublisher state_publisher_;
  Subscriber joint_state_sub_;
  ros::Timer timer_;
  ros::Time last_callback_time_;
  std::map<std::string, ros::Time> last_publish_time_;
  MimicMap mimic_;
  bool use_tf_static_;

};
}

#endif