csv_to_controller.h
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00034 
00035 /* Author: Dave Coleman
00036    Desc:   Records a ros_control ControllerState data to CSV for Matlab/etc analysis
00037 */
00038 
00039 #ifndef GENERIC_ROS_CONTROL__CSV_TO_CONTROLLER_H
00040 #define GENERIC_ROS_CONTROL__CSV_TO_CONTROLLER_H
00041 
00042 // ROS
00043 #include <ros/ros.h>
00044 
00045 // ros_control
00046 #include <control_msgs/FollowJointTrajectoryAction.h>
00047 #include <control_msgs/JointTrajectoryControllerState.h>
00048 
00049 // actionlib
00050 #include <actionlib/client/simple_action_client.h>
00051 #include <actionlib/client/terminal_state.h>
00052 
00053 namespace ros_control_boilerplate
00054 {
00055 static const double RECORD_RATE_HZ = 100.0;  // times per second to record
00056 
00057 class CSVToController
00058 {
00059 public:
00063   CSVToController(const std::string& joint_trajectory_action,
00064                   const std::string& controller_state_topic);
00065 
00067   void stateCB(const control_msgs::JointTrajectoryControllerState::ConstPtr& state);
00068 
00069   void printPoint(trajectory_msgs::JointTrajectoryPoint &point);
00070 
00071   // Start the data collection
00072   void loadAndRunCSV(const std::string& file_name);
00073 
00074 private:
00075   // A shared node handle
00076   ros::NodeHandle nh_;
00077 
00078   // Listener to state of controller
00079   ros::Subscriber state_sub_;
00080 
00081   // Action
00082   actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> joint_trajectory_action_;
00083 
00084   // Where to save the CSV
00085   std::string file_name_;
00086   std::string controller_state_topic_;
00087 
00088   // Cache of last recieved state
00089   control_msgs::JointTrajectoryControllerState current_state_;
00090 
00091 };  // end class
00092 
00093 }  // end namespace
00094 
00095 #endif


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Thu Jun 6 2019 20:37:19