arm_sim_controller.h

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//=================================================================================================
// Copyright (c) 2012, Àngel Santamaria-Navarro, IRI-UPC-CSIC
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Mobile Robotics group,
//       Institut de robòtica i infomàtica industrial (IRI), 
//       nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

#ifndef __GAZEBO_SIMPLE_ARM_PLUGIN_H__
#define __GAZEBO_SIMPLE_ARM_PLUGIN_H__

#include "gazebo/gazebo.hh"
#include "common/Plugin.hh"

#include <ros/callback_queue.h>
#include <ros/ros.h>

#include <sensor_msgs/JointState.h>

#define NUM_JOINTS 5
namespace gazebo
{
  class SimpleArmPlugin : public ModelPlugin
  {
public: 
  SimpleArmPlugin();
  virtual ~SimpleArmPlugin();

protected:  
  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
  virtual void Update();
  virtual void Reset();  

private: 

  physics::ModelPtr model_;
  
  physics::JointPtr joints_[NUM_JOINTS];

  ros::NodeHandle* node_handle_;
  ros::CallbackQueue callback_queue_;
  ros::Subscriber joints_subscriber_;
  
  std::string namespace_;
  std::string joints_topic_;
  

  sensor_msgs::JointState jointsstates_;
  void JointsCallback(const sensor_msgs::JointStateConstPtr&);
  
  common::Time prevUpdateTime_;
  
  common::PID jointPIDs_[NUM_JOINTS];
  double jointPositions_[NUM_JOINTS];
  double jointVelocities_[NUM_JOINTS];
  double jointMaxEfforts_[NUM_JOINTS];

  event::ConnectionPtr updateConnection_;
  
  };
}
#endif