xarm_ros_client.h

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#ifndef __XARM_ROS_CLIENT_H__
#define __XARM_ROS_CLIENT_H__

#include "ros/ros.h"
#include <xarm_driver.h>
#include "visibility_control.h"

namespace xarm_api{

class XARM_API_PUBLIC XArmROSClient
{
public:
        XArmROSClient();
        void init(ros::NodeHandle& nh);
        ~XArmROSClient();

        int motionEnable(short en);
        int setState(short state);
        int setMode(short mode);
        int clearErr(void);
        int getErr(void);
        int setTCPOffset(const std::vector<float>& tcp_offset);
        int setLoad(float mass, const std::vector<float>& center_of_mass);
        int setServoJ(const std::vector<float>& joint_cmd);
        int setServoCartisian(const std::vector<float>& cart_cmd);
        int goHome(float jnt_vel_rad, float jnt_acc_rad=15);
        int moveJoint(const std::vector<float>& joint_cmd, float jnt_vel_rad, float jnt_acc_rad=15);
        int moveLine(const std::vector<float>& cart_cmd, float cart_vel_mm, float cart_acc_mm=500);
        int moveLineB(int num_of_pnts, const std::vector<float> cart_cmds[], float cart_vel_mm, float cart_acc_mm=500, float radii=0);
        int getGripperState(float *curr_pulse, int *curr_err);
        int gripperConfig(float pulse_vel);
        int gripperMove(float pulse);
        
        int config_tool_modbus(int baud_rate, int time_out_ms);
        int send_tool_modbus(unsigned char* data, int send_len, unsigned char* recv_data=NULL, int recv_len=0);

        int veloMoveJoint(const std::vector<float>& jnt_v, bool is_sync = true);
        int veloMoveLine(const std::vector<float>& line_v, bool is_tool_coord = false);

private:
        ros::ServiceClient motion_ctrl_client_;
        ros::ServiceClient set_mode_client_;
        ros::ServiceClient set_state_client_;
        ros::ServiceClient go_home_client_;
        ros::ServiceClient move_lineb_client_;
        ros::ServiceClient move_servoj_client_;
        ros::ServiceClient move_servo_cart_client_;
        ros::ServiceClient move_line_client_;
        ros::ServiceClient move_joint_client_;
        ros::ServiceClient set_tcp_offset_client_;
        ros::ServiceClient set_load_client_;
        ros::ServiceClient clear_err_client_;
        ros::ServiceClient get_err_client_;
        ros::ServiceClient config_modbus_client_;
        ros::ServiceClient send_modbus_client_;
        ros::ServiceClient gripper_move_client_;
    ros::ServiceClient gripper_config_client_;
        ros::ServiceClient gripper_state_client_;
        ros::ServiceClient velo_move_joint_client_;
        ros::ServiceClient velo_move_line_client_;

    xarm_msgs::SetAxis set_axis_srv_;
    xarm_msgs::SetInt16 set_int16_srv_;
    xarm_msgs::TCPOffset offset_srv_;
    xarm_msgs::SetLoad set_load_srv_;
    xarm_msgs::ClearErr clear_err_srv_;
    xarm_msgs::GetErr get_err_srv_;
    xarm_msgs::Move move_srv_;
    xarm_msgs::Move servoj_msg_;
    xarm_msgs::Move servo_cart_msg_;
    xarm_msgs::ConfigToolModbus cfg_modbus_msg_;
    xarm_msgs::SetToolModbus set_modbus_msg_;
    xarm_msgs::GripperConfig gripper_config_msg_;
    xarm_msgs::GripperMove gripper_move_msg_;
    xarm_msgs::GripperState gripper_state_msg_;
        xarm_msgs::MoveVelo move_velo_srv_;

    ros::NodeHandle nh_;
};

}

#endif