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_servo_move_alg_node_h_ 00026 #define _tibi_dabo_servo_move_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "tibi_dabo_servo_move_alg.h" 00030 00031 // [publisher subscriber headers] 00032 00033 // [service client headers] 00034 00035 // [action server client headers] 00036 #include <iri_action_server/iri_action_server.h> 00037 #include <control_msgs/FollowJointTrajectoryAction.h> 00038 00043 class TibiDaboServoMoveAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboServoMoveAlgorithm> 00044 { 00045 private: 00046 //Servo variables 00047 bool servo_found; 00048 CDynamixelMotor *servo; 00049 std::list<std::string> events; 00050 CEventServer *event_server; 00051 00052 // [publisher attributes] 00053 00054 // [subscriber attributes] 00055 00056 // [service attributes] 00057 00058 // [client attributes] 00059 00060 // [action server attributes] 00061 IriActionServer<control_msgs::FollowJointTrajectoryAction> servo_angle_aserver_; 00062 void servo_angleStartCallback(const control_msgs::FollowJointTrajectoryGoalConstPtr& goal); 00063 void servo_angleStopCallback(void); 00064 bool servo_angleIsFinishedCallback(void); 00065 bool servo_angleHasSucceedCallback(void); 00066 void servo_angleGetResultCallback(control_msgs::FollowJointTrajectoryResultPtr& result); 00067 void servo_angleGetFeedbackCallback(control_msgs::FollowJointTrajectoryFeedbackPtr& feedback); 00068 00069 // [action client attributes] 00070 00071 public: 00078 TibiDaboServoMoveAlgNode(void); 00079 00086 ~TibiDaboServoMoveAlgNode(void); 00087 00088 protected: 00101 void mainNodeThread(void); 00102 00115 void node_config_update(Config &config, uint32_t level); 00116 00123 void addNodeDiagnostics(void); 00124 00125 // [diagnostic functions] 00126 00127 // [test functions] 00128 }; 00129 00130 #endif