YouBotConfiguration.h

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/******************************************************************************
 * Copyright (c) 2011
 * Locomotec
 *
 * Author:
 * Sebastian Blumenthal
 *
 *
 * This software is published under a dual-license: GNU Lesser General Public
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 * * Redistributions in binary form must reproduce the above copyright
 * notice, this list of conditions and the following disclaimer in the
 * documentation and/or other materials provided with the distribution.
 * * Neither the name of Locomotec nor the names of its
 * contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU Lesser General Public License LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ******************************************************************************/

#ifndef YOUBOTCONFIGURATION_H_
#define YOUBOTCONFIGURATION_H_

/* ROS includes */
#include "ros/ros.h"
#include "tf/transform_broadcaster.h"

/* OODL includes */
#include <youbot_driver/youbot/YouBotBase.hpp>
#include <youbot_driver/youbot/YouBotManipulator.hpp>
#include <actionlib/server/simple_action_server.h>
#include <control_msgs/FollowJointTrajectoryAction.h>

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> Server;

class JointTrajectoryAction;

namespace youBot
{

class YouBotBaseConfiguration
{
public:

    YouBotBaseConfiguration();

    virtual ~YouBotBaseConfiguration();

    youbot::YouBotBase* youBotBase;


    std::string baseID;

    std::vector<std::string> wheelNames;


    ros::Subscriber baseCommandSubscriber;


    ros::Publisher baseOdometryPublisher;

    ros::Publisher baseJointStatePublisher;

    ros::ServiceServer switchOffMotorsService;

    ros::ServiceServer switchONMotorsService;

    tf::TransformBroadcaster odometryBroadcaster;


};

class YouBotArmConfiguration
{
public:

    YouBotArmConfiguration();

    virtual ~YouBotArmConfiguration();

    youbot::YouBotManipulator* youBotArm;


    std::string armID;

    std::string commandTopicName;

    std::string parentFrameIDName;

    std::vector<std::string> jointNames;

    std::vector<std::string> gripperFingerNames;

    const static unsigned int LEFT_FINGER_INDEX = 0;
    const static unsigned int RIGHT_FINGER_INDEX = 1;

    ros::Subscriber armPositionCommandSubscriber;

    ros::Subscriber armVelocityCommandSubscriber;

        actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> *armJointTrajectoryAction;

    ros::Subscriber gripperPositionCommandSubscriber;


    ros::Publisher armJointStatePublisher;

    ros::ServiceServer switchOffMotorsService;

    ros::ServiceServer switchONMotorsService;

    ros::ServiceServer calibrateService;

    //Server* trajectoryActionServer;
    //JointTrajectoryAction* jointTrajectoryAction;

    double lastGripperCommand;

};

class YouBotConfiguration
{
public:
    YouBotConfiguration();
    virtual ~YouBotConfiguration();

    std::string configurationFilePath;

    bool hasBase;

    bool hasArms;

    YouBotBaseConfiguration baseConfiguration;

    std::vector<YouBotArmConfiguration> youBotArmConfigurations;
    std::map<std::string, int> armNameToArmIndexMapping;
    
    ros::Publisher diagnosticArrayPublisher;
    
    ros::Publisher dashboardMessagePublisher;
};




} // namespace youBot

#endif /* YOUBOTCONFIGURATION_H_ */

/* EOF */