jog_ros_interface.h

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/*******************************************************************************
 *      Title     : jog_ros_interface.h
 *      Project   : moveit_jog_arm
 *      Created   : 3/9/2017
 *      Author    : Brian O'Neil, Blake Anderson, Andy Zelenak
 *
 * BSD 3-Clause License
 *
 * Copyright (c) 2019, Los Alamos National Security, LLC
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
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 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
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 *   this software without specific prior written permission.
 *
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 * ARE
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*******************************************************************************/

// Server node for arm jogging with MoveIt.

#pragma once

#include "jog_interface_base.h"

namespace moveit_jog_arm
{
class JogROSInterface : protected JogInterfaceBase
{
public:
  JogROSInterface();

private:
  // ROS subscriber callbacks
  void deltaCartesianCmdCB(const geometry_msgs::TwistStampedConstPtr& msg);
  void deltaJointCmdCB(const control_msgs::JointJogConstPtr& msg);
};
}  // namespace moveit_jog_arm