00001 00046 #ifndef _JACO_POSE_ACTION_H_ 00047 #define _JACO_POSE_ACTION_H_ 00048 00049 #include <ros/ros.h> 00050 #include "jaco_driver/jaco_comm.h" 00051 00052 #include <actionlib/server/simple_action_server.h> 00053 #include <jaco_driver/ArmPoseAction.h> 00054 #include <tf/tf.h> 00055 #include <tf/transform_listener.h> 00056 00057 namespace jaco 00058 { 00059 00060 class JacoPoseActionServer 00061 { 00062 public: 00063 JacoPoseActionServer(JacoComm &, ros::NodeHandle &n); 00064 ~JacoPoseActionServer(); 00065 void ActionCallback(const jaco_driver::ArmPoseGoalConstPtr &); 00066 00067 private: 00068 JacoComm &arm; 00069 actionlib::SimpleActionServer<jaco_driver::ArmPoseAction> as_; 00070 tf::TransformListener listener; 00071 }; 00072 00073 } 00074 00075 #endif // _JACO_POSE_ACTION_H_ 00076