00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _tibi_dabo_arm_client_alg_node_h_ 00026 #define _tibi_dabo_arm_client_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "tibi_dabo_arm_client_alg.h" 00030 00031 // [publisher subscriber headers] 00032 00033 // [service client headers] 00034 00035 // [action server client headers] 00036 #include <actionlib/client/simple_action_client.h> 00037 #include <actionlib/client/terminal_state.h> 00038 #include <control_msgs/FollowJointTrajectoryAction.h> 00039 00044 class TibiDaboArmClientAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboArmClientAlgorithm> 00045 { 00046 private: 00047 // [publisher attributes] 00048 00049 // [subscriber attributes] 00050 00051 // [service attributes] 00052 00053 // [client attributes] 00054 00055 // [action server attributes] 00056 00057 // [action client attributes] 00058 actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> joint_motion_client_; 00059 control_msgs::FollowJointTrajectoryGoal joint_motion_goal_; 00060 void joint_motionMakeActionRequest(); 00061 void joint_motionDone(const actionlib::SimpleClientGoalState& state, const control_msgs::FollowJointTrajectoryResultConstPtr& result); 00062 void joint_motionActive(); 00063 void joint_motionFeedback(const control_msgs::FollowJointTrajectoryFeedbackConstPtr& feedback); 00064 00065 bool joint_motion_done; 00066 00067 int robot; 00068 int side; 00069 00070 public: 00077 TibiDaboArmClientAlgNode(void); 00078 00085 ~TibiDaboArmClientAlgNode(void); 00086 00087 protected: 00100 void mainNodeThread(void); 00101 00114 void node_config_update(Config &config, uint32_t level); 00115 00122 void addNodeDiagnostics(void); 00123 00124 // [diagnostic functions] 00125 00126 // [test functions] 00127 void change_joint_names(int robot_id, int side_id); 00128 }; 00129 00130 #endif