csv_to_controller.h

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/* Author: Dave Coleman
   Desc:   Records a ros_control ControllerState data to CSV for Matlab/etc analysis
*/
 
#ifndef GENERIC_ROS_CONTROL__CSV_TO_CONTROLLER_H
#define GENERIC_ROS_CONTROL__CSV_TO_CONTROLLER_H
 
// ROS
#include <ros/ros.h>
 
// ros_control
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <control_msgs/JointTrajectoryControllerState.h>
 
// actionlib
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
 
namespace ros_control_boilerplate
{
static const double RECORD_RATE_HZ = 100.0;  // times per second to record
 
class CSVToController
{
public:
  CSVToController(const std::string& joint_trajectory_action, const std::string& controller_state_topic);
 
  void stateCB(const control_msgs::JointTrajectoryControllerState::ConstPtr& state);
 
  void printPoint(trajectory_msgs::JointTrajectoryPoint& point);
 
  // Start the data collection
  void loadAndRunCSV(const std::string& file_name);
 
private:
  // A shared node handle
  ros::NodeHandle nh_;
 
  // Listener to state of controller
  ros::Subscriber state_sub_;
 
  // Action
  actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> joint_trajectory_action_;
 
  // Where to save the CSV
  std::string file_name_;
  std::string controller_state_topic_;
 
  // Cache of last recieved state
  control_msgs::JointTrajectoryControllerState current_state_;
 
};  // end class
 
}  // namespace ros_control_boilerplate
 
#endif