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_driver_node_h_ 00026 #define _tibi_dabo_arm_driver_node_h_ 00027 00028 #include <iri_base_driver/iri_base_driver_node.h> 00029 #include "tibi_dabo_arm_driver.h" 00030 00031 // [publisher subscriber headers] 00032 #include <sensor_msgs/JointState.h> 00033 00034 // [service client headers] 00035 00036 // [action server client headers] 00037 #include <iri_action_server/iri_action_server.h> 00038 #include <tibi_dabo_msgs/sequenceAction.h> 00039 #include <control_msgs/FollowJointTrajectoryAction.h> 00040 00041 // diagnostic headers 00042 #include "diagnostic_updater/diagnostic_updater.h" 00043 #include "diagnostic_updater/publisher.h" 00044 00062 class TibiDaboArmDriverNode : public iri_base_driver::IriBaseNodeDriver<TibiDaboArmDriver> 00063 { 00064 private: 00065 // [publisher attributes] 00066 ros::Publisher joint_feedback_publisher_; 00067 sensor_msgs::JointState JointState_msg_; 00068 00069 std::string robot_id; 00070 std::string side_id; 00071 00072 // [subscriber attributes] 00073 00074 // [service attributes] 00075 00076 // [client attributes] 00077 00078 // [action server attributes] 00079 // Action server fo the motion sequences 00080 IriActionServer<tibi_dabo_msgs::sequenceAction> motion_sequence_aserver_; 00081 void motion_sequence_startCallback(const tibi_dabo_msgs::sequenceGoalConstPtr& goal); 00082 void motion_sequence_stopCallback(void); 00083 bool motion_sequence_isFinishedCallback(void); 00084 bool motion_sequence_hasSucceedCallback(void); 00085 void motion_sequence_getResultCallback(tibi_dabo_msgs::sequenceResultPtr& result); 00086 void motion_sequence_getFeedbackCallback(tibi_dabo_msgs::sequenceFeedbackPtr& feedback); 00087 00088 IriActionServer<control_msgs::FollowJointTrajectoryAction> joint_motion_aserver_; 00089 void joint_motion_startCallback(const control_msgs::FollowJointTrajectoryGoalConstPtr& goal); 00090 void joint_motion_stopCallback(void); 00091 bool joint_motion_isFinishedCallback(void); 00092 bool joint_motion_hasSucceedCallback(void); 00093 void joint_motion_getResultCallback(control_msgs::FollowJointTrajectoryResultPtr& result); 00094 void joint_motion_getFeedbackCallback(control_msgs::FollowJointTrajectoryFeedbackPtr& feedback); 00095 00096 // [action client attributes] 00097 00105 void postNodeOpenHook(void); 00106 void preNodeCloseHook(void); 00107 00108 public: 00126 TibiDaboArmDriverNode(ros::NodeHandle& nh); 00127 00134 ~TibiDaboArmDriverNode(void); 00135 00136 protected: 00149 void mainNodeThread(void); 00150 00151 // [diagnostic functions] 00152 void check_motion_sequence_status(diagnostic_updater::DiagnosticStatusWrapper &stat); 00153 00164 void addNodeDiagnostics(void); 00165 00166 // [driver test functions] 00167 00177 void addNodeOpenedTests(void); 00178 00188 void addNodeStoppedTests(void); 00189 00199 void addNodeRunningTests(void); 00200 00208 void reconfigureNodeHook(int level); 00209 00210 }; 00211 00212 #endif