fake_calibration_controller.h

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#pragma once



#include "pr2_mechanism_model/robot.h"
#include "robot_mechanism_controllers/joint_velocity_controller.h"
#include "realtime_tools/realtime_publisher.h"
#include "std_msgs/Empty.h"
#include "pr2_controllers_msgs/QueryCalibrationState.h"

namespace controller
{

class FakeCalibrationController : public pr2_controller_interface::Controller
{
public:
  FakeCalibrationController();
  ~FakeCalibrationController();

  virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
  virtual void starting();
  virtual void update();

  bool isCalibrated(pr2_controllers_msgs::QueryCalibrationState::Request& req, pr2_controllers_msgs::QueryCalibrationState::Response& resp);


protected:

  ros::NodeHandle node_;
  pr2_mechanism_model::RobotState *robot_;
  ros::Time last_publish_time_;
  ros::ServiceServer is_calibrated_srv_;
  boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;

  pr2_mechanism_model::JointState *joint_;
};


}