ROSComm.hh
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00001 
00002 #include "FRIData.hh"
00003 #include <pthread.h>
00004 
00005 #include <string>
00006 
00007 #include <ros/ros.h>
00008 #include <diagnostic_updater/diagnostic_updater.h>
00009 #include <sensor_msgs/JointState.h>
00010 #include <kuka_fri/ImpedanceCommand.h>
00011 #include <soft_runstop/Handler.h>
00012 
00013 class FRIThread;
00014 
00015 class ROSComm {
00016 public:
00017   ROSComm();
00018   ~ROSComm();
00019   bool configure(FRIThread *fri);
00020   bool open();
00021   void publishData(const RobotData &data, const RobotCommand &cmd);
00022   void publishStatus(const RobotStatus &status);
00023   bool runstop();
00024 
00025   // threading support
00026   void start(FRIThread *fri);
00027   void finish();
00028 private:
00029   std::string side_;
00030   soft_runstop::Handler* soft_runstop_handler_;
00031   RobotStatus status_;
00032   void status_update(diagnostic_updater::DiagnosticStatusWrapper &s);
00033   void runstop_receiver(const std_msgs::BoolConstPtr &msg);
00034   void impedanceCommand(const kuka_fri::ImpedanceCommand::ConstPtr& msg);
00035   ros::NodeHandle *n_;
00036   ros::Publisher pub_;
00037   ros::Subscriber sub_;
00038 
00039   diagnostic_updater::Updater *diagnostic_;
00040   sensor_msgs::JointState joint_state_;
00041 
00042   // threading support
00043   FRIThread* fri_;
00044   double rate_;
00045   void* run();
00046   static void* run_s(void *ptr) { return ((ROSComm *) ptr)->run(); }
00047 
00048   pthread_t thread_;
00049   bool running_, exitRequested_;
00050 };
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kuka_fri
Author(s): Ingo Kresse, Alexis Maldonado
autogenerated on Thu May 23 2013 05:28:18