forward_command_controller.h

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#pragma once


#include <ros/node_handle.h>
#include <hardware_interface/joint_command_interface.h>
#include <controller_interface/controller.h>
#include <std_msgs/Float64.h>
#include <realtime_tools/realtime_buffer.h>


namespace forward_command_controller
{

template <class T>
class ForwardCommandController: public controller_interface::Controller<T>
{
public:
  ForwardCommandController() {}
  ~ForwardCommandController() {sub_command_.shutdown();}

  bool init(T* hw, ros::NodeHandle &n)
  {
    std::string joint_name;
    if (!n.getParam("joint", joint_name))
    {
      ROS_ERROR("No joint given (namespace: %s)", n.getNamespace().c_str());
      return false;
    }
    joint_ = hw->getHandle(joint_name);
    sub_command_ = n.subscribe<std_msgs::Float64>("command", 1, &ForwardCommandController::commandCB, this);
    return true;
  }

  void starting(const ros::Time& time);
  void update(const ros::Time& /*time*/, const ros::Duration& /*period*/) {joint_.setCommand(*command_buffer_.readFromRT());}

  hardware_interface::JointHandle joint_;
  realtime_tools::RealtimeBuffer<double> command_buffer_;

private:
  ros::Subscriber sub_command_;
  void commandCB(const std_msgs::Float64ConstPtr& msg) {command_buffer_.writeFromNonRT(msg->data);}
};

}