jog_frame_node.h

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#ifndef JOG_FRAME_H
#define JOG_FRAME_H

#include <string>
#include <ros/ros.h>
#include <tf/tf.h>
#include <jog_msgs/JogFrame.h>
#include <sensor_msgs/JointState.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/GetPositionFK.h>
#include <moveit_msgs/GetPositionIK.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <actionlib/client/simple_action_client.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>

typedef actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction > TrajClient;

namespace jog_frame
{

typedef struct
{
public:
  std::string action_ns;
  std::string type;
  std::vector<std::string> joints;
  
} Controller;

class JogFrameNode
{
public:
  JogFrameNode ();
  void jog_frame_cb (jog_msgs::JogFrameConstPtr msg);
  void joint_state_cb (sensor_msgs::JointStateConstPtr msg);
  int get_controller_list();

protected:
  ros::Subscriber joint_state_sub_, jog_frame_sub_;
  ros::ServiceClient fk_client_, ik_client_;

  std::map<std::string, Controller> cinfo_map_;
  std::map<std::string, TrajClient*> traj_clients_;
  std::map<std::string,ros::Publisher> traj_pubs_;

  std::map<std::string, double> joint_map_;
  geometry_msgs::PoseStamped pose_stamped_;

  double time_from_start_;
  bool use_action_;
  bool intermittent_;

  std::string target_link_;
  std::string group_name_;
  std::vector<std::string> exclude_joints_;
  sensor_msgs::JointState joint_state_;
  ros::Time last_stamp_;
};

} // namespace jog_frame

#endif // JOG_FRAME_NODE_H