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30 #include "cartesian_control_msgs/FollowCartesianTrajectoryResult.h"
31 #include "control_msgs/FollowJointTrajectoryResult.h"
35 #include <geometry_msgs/Twist.h>
36 #include <geometry_msgs/Pose.h>
37 #include <geometry_msgs/Accel.h>
44 #include <control_msgs/FollowJointTrajectoryAction.h>
45 #include <control_msgs/FollowJointTrajectoryFeedback.h>
50 #include <cartesian_control_msgs/FollowCartesianTrajectoryAction.h>
51 #include <cartesian_control_msgs/FollowCartesianTrajectoryFeedback.h>
56 #include <dynamic_reconfigure/server.h>
57 #include <pass_through_controllers/SpeedScalingConfig.h>
170 void handleJointFeedback(
const control_msgs::FollowJointTrajectoryFeedbackConstPtr& feedback);
173 const control_msgs::FollowJointTrajectoryResultConstPtr& result);
175 std::unique_ptr<actionlib::SimpleActionClient<cartesian_control_msgs::FollowCartesianTrajectoryAction>>
177 void handleCartesianFeedback(
const cartesian_control_msgs::FollowCartesianTrajectoryFeedbackConstPtr& feedback);
180 const cartesian_control_msgs::FollowCartesianTrajectoryResultConstPtr& result);
geometry_msgs::Pose pose_cmd_
std::vector< double > pos_
std::vector< double > cmd_
void startJointInterpolation(const hardware_interface::JointTrajectory &trajectory)
Dummy implementation for joint interpolation on the robot.
std::string ref_frame_id_
geometry_msgs::Pose cartesian_pose_
dynamic_reconfigure::Server< SpeedScalingConfig >::CallbackType callback_type_
geometry_msgs::Accel cartesian_jerk_
std::unique_ptr< actionlib::SimpleActionClient< control_msgs::FollowJointTrajectoryAction > > joint_based_communication_
ros_controllers_cartesian::CartesianStateInterface cart_state_interface_
geometry_msgs::Twist cartesian_twist_
void read(const ros::Time &time, const ros::Duration &period) override
pass_through_controllers::SpeedScalingConfig SpeedScalingConfig
Hardware interface for forwarding trajectories.
hardware_interface::CartesianTrajectoryInterface cart_traj_interface_
hardware_interface::PositionJointInterface jnt_pos_interface_
void handleJointDone(const actionlib::SimpleClientGoalState &state, const control_msgs::FollowJointTrajectoryResultConstPtr &result)
void cancelJointInterpolation()
Dummy implementation for canceling a running joint interpolation on the robot.
hardware_interface::JointTrajectoryInterface jnt_traj_interface_
std::vector< double > vel_
std::shared_ptr< dynamic_reconfigure::Server< SpeedScalingConfig > > reconfig_server_
void cancelCartesianInterpolation()
Dummy implementation for canceling a running Cartesian interpolation on the robot.
void write(const ros::Time &time, const ros::Duration &period) override
hardware_interface::JointStateInterface jnt_state_interface_
void handleCartesianDone(const actionlib::SimpleClientGoalState &state, const cartesian_control_msgs::FollowCartesianTrajectoryResultConstPtr &result)
cartesian_control_msgs::FollowCartesianTrajectoryGoal CartesianTrajectory
TrajectoryType for Cartesian trajectories.
scaled_controllers::SpeedScalingInterface speedsc_interface_
void handleCartesianFeedback(const cartesian_control_msgs::FollowCartesianTrajectoryFeedbackConstPtr &feedback)
std::vector< hardware_interface::JointStateHandle > joint_state_handles_
std::vector< hardware_interface::JointHandle > joint_handles_
control_msgs::FollowJointTrajectoryGoal JointTrajectory
TrajectoryType for joint-based trajectories.
ros_controllers_cartesian::PoseCommandInterface pose_cmd_interface_
std::vector< std::string > joint_names_
Actuated joints in order from base to tip.
std::unique_ptr< actionlib::SimpleActionClient< cartesian_control_msgs::FollowCartesianTrajectoryAction > > cartesian_based_communication_
std::vector< double > eff_
void handleJointFeedback(const control_msgs::FollowJointTrajectoryFeedbackConstPtr &feedback)
void dynamicReconfigureCallback(SpeedScalingConfig &config, uint32_t level)
Use dynamic reconfigure to mimic the driver's speed scaling.
void startCartesianInterpolation(const hardware_interface::CartesianTrajectory &trajectory)
Dummy implementation for Cartesian interpolation on the robot.
geometry_msgs::Accel cartesian_accel_