industrial_robot_status_controller.h

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#ifndef INDUSTRIAL_ROBOT_STATUS_CONTROLLER_INDUSTRIAL_ROBOT_STATUS_CONTROLLER_H_
#define INDUSTRIAL_ROBOT_STATUS_CONTROLLER_INDUSTRIAL_ROBOT_STATUS_CONTROLLER_H_
 
#include <industrial_robot_status_interface/industrial_robot_status_interface.h>
 
#include <controller_interface/controller.h>
#include <industrial_msgs/RobotStatus.h>
#include <realtime_tools/realtime_publisher.h>
 
#include <memory>
 
 
namespace industrial_robot_status_controller
{
 
 
using InterfaceType = industrial_robot_status_interface::IndustrialRobotStatusInterface;
using HandleType = industrial_robot_status_interface::IndustrialRobotStatusHandle;
 
 
class IndustrialRobotStatusController
    : public controller_interface::Controller<InterfaceType>
{
 public:
  IndustrialRobotStatusController() = default;
 
  virtual ~IndustrialRobotStatusController() override {}
 
  bool init(
    InterfaceType* hw,
    ros::NodeHandle& root_node_handle,
    ros::NodeHandle& controller_node_handle) override;
  void starting(const ros::Time& time) override;
  void update(const ros::Time& time, const ros::Duration& period) override;
 
 private:
  InterfaceType* robot_status_interface_{};
  std::unique_ptr<HandleType> robot_status_handle_{};
 
  realtime_tools::RealtimePublisher<industrial_msgs::RobotStatus> robot_status_pub_;
  ros::Time last_publish_time_;
  double publish_rate_;
};
 
 
} // namespace industrial_robot_status_controller
 
#endif