segway_rmp400_driver_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 _segway_rmp400_driver_node_h_
#define _segway_rmp400_driver_node_h_

#include "iri_base_driver/iri_base_driver_node.h"
#include "segway_rmp400_driver.h"


// [publisher subscriber headers]

// [service client headers]

// [action server client headers]

class SegwayRmp400DriverNode : public iri_base_driver::IriBaseNodeDriver<SegwayRmp400Driver>
{
  private:
      ros::Publisher status_publisher_;
      ros::Subscriber cmd_vel_subscriber_;
      tf::TransformBroadcaster tf_broadcaster_;
      iri_segway_rmp_msgs::SegwayRMP400Status segway_status_msg_;

      void cmd_vel_callback(const geometry_msgs::Twist::ConstPtr & msg);
      void update_status(void);

    void postNodeOpenHook(void);

  public:
    SegwayRmp400DriverNode(ros::NodeHandle& nh);

    ~SegwayRmp400DriverNode();

  protected:
    void mainNodeThread(void);

    // [diagnostic functions]

    void addNodeDiagnostics(void);

    // [driver test functions]

    void addNodeOpenedTests(void);

    void addNodeStoppedTests(void);

    void addNodeRunningTests(void);

    void reconfigureNodeHook(int level);

};

#endif