dynamixel_loop.hpp

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/* Original Author: Dave Coleman (https://github.com/davetcoleman/ros_control_boilerplate) */

#ifndef DYNAMIXEL_LOOP
#define DYNAMIXEL_LOOP

// Standard C++
#include <time.h>

// Boost shared pointer
#include <boost/shared_ptr.hpp>

// ROS
#include <ros/ros.h>

// ROS control
#include <controller_manager/controller_manager.h>

// The hardware interface to dynamixels
#include <dynamixel_control_hw/dynamixel_hardware_interface.hpp>

namespace dynamixel {
    // Used to convert seconds elapsed to nanoseconds
    static const double BILLION = 1000000000.0;

    class DynamixelLoop {
    public:
        DynamixelLoop(ros::NodeHandle& nh, boost::shared_ptr<dynamixel::DynamixelHardwareInterface> hardware_interface);

        void update(const ros::TimerEvent& e);
        void jsCallback(const sensor_msgs::JointState::ConstPtr& js);

    private:
        // Startup and shutdown of the internal node inside a roscpp program
        ros::NodeHandle _nh;

        sensor_msgs::JointState joint_state;
        ros::Subscriber js_sub;
        // Settings
        ros::Duration _desired_update_freq;
        double _cycle_time_error_threshold;

        ros::Publisher torque_pub;

        // Timing
        ros::Timer _non_realtime_loop;
        ros::Duration _elapsed_time;
        double _loop_hz;
        struct timespec _last_time;
        struct timespec _current_time;

        boost::shared_ptr<controller_manager::ControllerManager> _controller_manager;

        boost::shared_ptr<dynamixel::DynamixelHardwareInterface> _hardware_interface;
    };
}

#endif