moveit_sim_hw_interface.h

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/* Author: Dave Coleman <dave@dav.ee>
   Desc:   Simulates a robot using ros_control controllers
*/
 
#ifndef MOVEIT_SIM_CONTROLLER_MOVEIT_SIM_HW_INTERFACE_H
#define MOVEIT_SIM_CONTROLLER_MOVEIT_SIM_HW_INTERFACE_H
 
// C++
#include <string>
 
// ROS
#include <ros/ros.h>
#include <ros_control_boilerplate/sim_hw_interface.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
 
namespace moveit_sim_controller
{
static const std::string ROBOT_DESCRIPTION = "robot_description";
 
class MoveItSimHWInterface : public ros_control_boilerplate::SimHWInterface
{
public:
  explicit MoveItSimHWInterface(ros::NodeHandle& nh, urdf::Model* urdf_model = NULL);
 
  void init();
 
  void loadDefaultJointValues();
 
private:
  std::string name_;
 
  std::string joint_model_group_;
  std::string joint_model_group_pose_;
 
  // Note: this doesn't need to be a member variable (only used once) but there are warnings about
  // unloading shared objects so this is a work around at least for now
  robot_model_loader::RobotModelLoaderPtr robot_model_loader_;
};  // class
 
// Create boost pointers for this class
typedef boost::shared_ptr<MoveItSimHWInterface> MoveItSimHWInterfacePtr;
typedef boost::shared_ptr<const MoveItSimHWInterface> MoveItSimHWInterfaceConstPtr;
 
}  // namespace moveit_sim_controller
 
#endif  // MOVEIT_SIM_CONTROLLER_MOVEIT_SIM_HW_INTERFACE_H