controller_node.h

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#ifndef CONTROLLER_NODE_H
#define CONTROLLER_NODE_H
 
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <tuw_nav_msgs/ControllerState.h>
#include <nav_msgs/Path.h>
#include <std_msgs/String.h>
 
#include <simple_velocity_controller/controller.h>
#include <memory>
 
namespace velocity_controller
{
class ControllerNode : public velocity_controller::Controller
{
  //special class-member functions.
public:
  ControllerNode(ros::NodeHandle &n);
 
  ros::NodeHandle n_;       
  ros::NodeHandle n_param_; 
  std::unique_ptr<ros::Rate> rate_;
 
private:
  ros::Publisher pubCmdVel_;
  ros::Publisher pubState_;
  ros::Subscriber subPose_;
  ros::Subscriber subPath_;
  ros::Subscriber subCtrl_;
  float max_vel_v_;
  float max_vel_w_;
  float goal_r_;
  float Kp_val_;
  float Ki_val_;
  float Kd_val_;
  ros::Time last_update_;
  void subPoseCb(const geometry_msgs::PoseWithCovarianceStampedConstPtr &_pose);
  void subPathCb(const nav_msgs::Path::ConstPtr &_path);
  void subCtrlCb(const std_msgs::String _cmd);
  void publishState();
  
  geometry_msgs::Twist cmd_;
  tuw_nav_msgs::ControllerState ctrl_state_;
};
 
} // namespace velocity_controller
 
#endif // CONTROLLER_NODE_H