joint_relay_handler.h

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#ifndef JOINT_HANDLER_H
#define JOINT_HANDLER_H

#include "simple_message/message_handler.h"
#include "ros/ros.h"
//#include <pr2_controllers_msgs/JointTrajectoryControllerState.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <control_msgs/FollowJointTrajectoryFeedback.h>
#include <sensor_msgs/JointState.h>


namespace motoman
{
namespace joint_relay_handler
{

//* JointRelayHandler
class JointRelayHandler : public industrial::message_handler::MessageHandler
{

public:

  JointRelayHandler(ros::NodeHandle &n);


bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection);

bool init(int msg_type, industrial::smpl_msg_connection::SmplMsgConnection* connection)
{ return MessageHandler::init(msg_type, connection);};


private:

  //pr2_controllers_msgs::JointTrajectoryControllerState joint_control_state_;
  control_msgs::FollowJointTrajectoryFeedback joint_control_state_;
  sensor_msgs::JointState joint_sensor_state_;
  ros::Publisher pub_joint_control_state_;
  ros::Publisher pub_joint_sensor_state_;
  ros::NodeHandle node_;

  static const int NUM_OF_JOINTS_ = 7;

 bool internalCB(industrial::simple_message::SimpleMessage & in);
};

}//ping_handler
}//industrial


#endif /* JOINT_HANDLER_H */