PainterUtils.h

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#include <string>
#include <ros/ros.h>
#include <portrait_robot_msgs/alubsc_status_msg.h>
#include <tf/tf.h>

#define NODE_ID 3
#define PI 3.14159265

using namespace std;

namespace portrait_painter {
// Start the MessageClient
ros::ServiceClient getMessageClient(ros::NodeHandle n);

void sendStatus(string message, ros::ServiceClient client);

// returns the right Gripper position in /torso_lift_link
tf::Vector3 getGripperPosition();

/*
 * @brief moves the right gripper to a position right of the head
 * */
void moveGripperToInitialPos();
}