00001 /* 00002 * UOS-ROS packages - Robot Operating System code by the University of Osnabrück 00003 * Copyright (C) 2010 University of Osnabrück 00004 * 00005 * This program is free software; you can redistribute it and/or 00006 * modify it under the terms of the GNU General Public License 00007 * as published by the Free Software Foundation; either version 2 00008 * of the License, or (at your option) any later version. 00009 * 00010 * This program is distributed in the hope that it will be useful, 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00013 * GNU General Public License for more details. 00014 * 00015 * You should have received a copy of the GNU General Public License 00016 * along with this program; if not, write to the Free Software 00017 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. 00018 * 00019 * KatanaNode.h 00020 * 00021 * Created on: 11.12.2010 00022 * Author: Martin Günther <mguenthe@uos.de> 00023 */ 00024 00025 #ifndef KATANANODE_H_ 00026 #define KATANANODE_H_ 00027 00028 #include <ros/ros.h> 00029 00030 #include <katana/JointStatePublisher.h> 00031 #include <katana/joint_trajectory_action_controller.h> 00032 #include <katana/joint_movement_action_controller.h> 00033 #include <katana/katana_gripper_grasp_controller.h> 00034 00035 #include <katana/AbstractKatana.h> 00036 #include <katana/Katana.h> 00037 #include <katana/Katana300.h> 00038 #include <katana/SimulatedKatana.h> 00039 00040 namespace katana 00041 { 00042 00048 class KatanaNode 00049 { 00050 public: 00051 KatanaNode(); 00052 virtual ~KatanaNode(); 00053 int loop(); 00054 00055 private: 00056 boost::shared_ptr<katana::AbstractKatana> katana; 00057 ros::NodeHandle nh; // just to make sure that there is at least one node handle which doesn't go out of scope 00058 00059 }; 00060 00061 } 00062 00063 #endif /* KATANANODE_H_ */