darwin_arm_simple_nav_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _darwin_arm_simple_nav_alg_node_h_
#define _darwin_arm_simple_nav_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "darwin_arm_simple_nav_alg.h"
#include <tf/transform_listener.h>

// [publisher subscriber headers]
#include <sensor_msgs/JointState.h>

// [service client headers]
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <kinematics_msgs/GetPositionIK.h>

// [action server client headers]
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <iri_action_server/iri_action_server.h>
#include <arm_navigation_msgs/MoveArmAction.h>

class DarwinArmSimpleNavAlgNode : public algorithm_base::IriBaseAlgorithm<DarwinArmSimpleNavAlgorithm>
{
  private:
    // [publisher attributes]

    // [subscriber attributes]
    ros::Subscriber joint_state_subscriber_;
    void joint_state_callback(const sensor_msgs::JointState::ConstPtr& msg);
    CMutex joint_state_mutex_;
    sensor_msgs::JointState current_state;

    // [service attributes]

    // [client attributes]
    ros::ServiceClient ik_info_client_;
    kinematics_msgs::GetKinematicSolverInfo ik_info_srv_;
    ros::ServiceClient get_ik_client_;
    kinematics_msgs::GetPositionIK get_ik_srv_;

    // [action server attributes]
    IriActionServer<arm_navigation_msgs::MoveArmAction> move_arm_aserver_;
    void move_armStartCallback(const arm_navigation_msgs::MoveArmGoalConstPtr& goal);
    void move_armStopCallback(void);
    bool move_armIsFinishedCallback(void);
    bool move_armHasSucceedCallback(void);
    void move_armGetResultCallback(arm_navigation_msgs::MoveArmResultPtr& result);
    void move_armGetFeedbackCallback(arm_navigation_msgs::MoveArmFeedbackPtr& feedback);

    // [action client attributes]
    actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> move_joints_client_;
    control_msgs::FollowJointTrajectoryGoal move_joints_goal_;
    void move_jointsMakeActionRequest();
    void move_jointsDone(const actionlib::SimpleClientGoalState& state,  const control_msgs::FollowJointTrajectoryResultConstPtr& result);
    void move_jointsActive();
    void move_jointsFeedback(const control_msgs::FollowJointTrajectoryFeedbackConstPtr& feedback);

    bool robot_running;
    bool joints_moving;
    tf::TransformListener tf_listener;
    std::string arm_id;

  public:
    DarwinArmSimpleNavAlgNode(void);

    ~DarwinArmSimpleNavAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif