fake_calibration_controller.cpp

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#include "pr2_calibration_controllers/fake_calibration_controller.h"
#include "ros/time.h"
#include "pluginlib/class_list_macros.hpp"
 
using namespace std;
using namespace controller;
 
PLUGINLIB_EXPORT_CLASS(controller::FakeCalibrationController, pr2_controller_interface::Controller)
 
namespace controller
{
 
FakeCalibrationController::FakeCalibrationController()
  : last_publish_time_(0), joint_(NULL)
{
}
 
FakeCalibrationController::~FakeCalibrationController()
{
}
 
bool FakeCalibrationController::init(pr2_mechanism_model::RobotState *robot,
                                        ros::NodeHandle &n)
{
  assert(robot);
  robot_ = robot;
  node_ = n;
 
  std::string joint_name;
  if (!node_.getParam("joint", joint_name))
  {
    ROS_ERROR("No joint given (namespace: %s)", node_.getNamespace().c_str());
    return false;
  }
  if (!(joint_ = robot->getJointState(joint_name)))
  {
    ROS_ERROR("Could not find joint \"%s\" (namespace: %s)",
              joint_name.c_str(), node_.getNamespace().c_str());
    return false;
  }
 
  // advertise service to check calibration
  is_calibrated_srv_ = node_.advertiseService("is_calibrated", &FakeCalibrationController::isCalibrated, this);
 
  // "Calibrated" topic
  pub_calibrated_.reset(new realtime_tools::RealtimePublisher<std_msgs::Empty>(node_, "calibrated", 1));
 
  return true;
}
 
 
void FakeCalibrationController::starting()
{
}
 
 
bool FakeCalibrationController::isCalibrated(pr2_controllers_msgs::QueryCalibrationState::Request& req,
                                                pr2_controllers_msgs::QueryCalibrationState::Response& resp)
{
  resp.is_calibrated = joint_->calibrated_;
  return true;
}
 
 
void FakeCalibrationController::update()
{
  assert(joint_);
  joint_->calibrated_ = true;
}
 
}