csv_to_controller.h

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/* Author: Dave Coleman
   Desc:   Records a ros_control ControllerState data to CSV for Matlab/etc analysis
*/

#ifndef GENERIC_ROS_CONTROL__CSV_TO_CONTROLLER_H
#define GENERIC_ROS_CONTROL__CSV_TO_CONTROLLER_H

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

// ros_control
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <control_msgs/JointTrajectoryControllerState.h>

// actionlib
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>

namespace ros_control_boilerplate
{
static const double RECORD_RATE_HZ = 100.0;  // times per second to record

class CSVToController
{
public:
  CSVToController(const std::string& joint_trajectory_action,
                  const std::string& controller_state_topic);

  void stateCB(const control_msgs::JointTrajectoryControllerState::ConstPtr& state);

  void printPoint(trajectory_msgs::JointTrajectoryPoint &point);

  // Start the data collection
  void loadAndRunCSV(const std::string& file_name);

private:
  // A shared node handle
  ros::NodeHandle nh_;

  // Listener to state of controller
  ros::Subscriber state_sub_;

  // Action
  actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> joint_trajectory_action_;

  // Where to save the CSV
  std::string file_name_;
  std::string controller_state_topic_;

  // Cache of last recieved state
  control_msgs::JointTrajectoryControllerState current_state_;

};  // end class

}  // end namespace

#endif