forward_command_controller.h
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00037 
00038 #ifndef FORWARD_COMMAND_CONTROLLER_FORWARD_COMMAND_CONTROLLER_H
00039 #define FORWARD_COMMAND_CONTROLLER_FORWARD_COMMAND_CONTROLLER_H
00040 
00041 #include <ros/node_handle.h>
00042 #include <hardware_interface/joint_command_interface.h>
00043 #include <controller_interface/controller.h>
00044 #include <std_msgs/Float64.h>
00045 #include <realtime_tools/realtime_buffer.h>
00046 
00047 
00048 namespace forward_command_controller
00049 {
00050 
00068 template <class T>
00069 class ForwardCommandController: public controller_interface::Controller<T>
00070 {
00071 public:
00072   ForwardCommandController() {}
00073   ~ForwardCommandController() {sub_command_.shutdown();}
00074 
00075   bool init(T* hw, ros::NodeHandle &n)
00076   {
00077     std::string joint_name;
00078     if (!n.getParam("joint", joint_name))
00079     {
00080       ROS_ERROR("No joint given (namespace: %s)", n.getNamespace().c_str());
00081       return false;
00082     }
00083     joint_ = hw->getHandle(joint_name);
00084     sub_command_ = n.subscribe<std_msgs::Float64>("command", 1, &ForwardCommandController::commandCB, this);
00085     return true;
00086   }
00087 
00088   void starting(const ros::Time& time);
00089   void update(const ros::Time& /*time*/, const ros::Duration& /*period*/) {joint_.setCommand(*command_buffer_.readFromRT());}
00090 
00091   hardware_interface::JointHandle joint_;
00092   realtime_tools::RealtimeBuffer<double> command_buffer_;
00093 
00094 private:
00095   ros::Subscriber sub_command_;
00096   void commandCB(const std_msgs::Float64ConstPtr& msg) {command_buffer_.writeFromNonRT(msg->data);}
00097 };
00098 
00099 }
00100 
00101 #endif


forward_command_controller
Author(s): Vijay Pradeep, Adolfo Rodriguez Tsouroukdissian
autogenerated on Sat Aug 13 2016 04:20:40