SimulatedController.h

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/*
 * SimulatedController.h
 *
 *  Created on: Oct 10, 2012
 *      Author: coky
 */

/*
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 * All rights reserved.
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 */

#ifndef SIMULATEDCONTROLLER_H_
#define SIMULATEDCONTROLLER_H_

#include <ros/ros.h>
#include <actionlib/server/action_server.h>

#include <trajectory_msgs/JointTrajectory.h>
#include <pr2_controllers_msgs/JointTrajectoryAction.h>
#include <pr2_controllers_msgs/JointTrajectoryControllerState.h>
#include <sensor_msgs/JointState.h>
#include <control_msgs/FollowJointTrajectoryFeedback.h>
#include <boost/foreach.hpp>

const std::string CONTROLLER_STATE_TOPIC_NAME = "state";
const std::string CONTROLLER_FEEDBACK_TOPIC_NAME = "feedback_states";
const std::string JOINT_TRAJECTORY_TOPIC_NAME = "command";
const std::string JOINT_STATE_TOPIC_NAME = "joint_states";
const std::string JOINT_NAMES_PARAM_NAME = "/joint_trajectory_action/joints";

class SimulatedController
{
public:
        SimulatedController();

        ~SimulatedController();

        void init();

        void broadcastState(const ros::TimerEvent &evnt);

        void callbackJointTrajectory(const trajectory_msgs::JointTrajectory::ConstPtr &msg);

protected:

        void updateLastStateFeedbackMessages(const sensor_msgs::JointState &st);

        // ros comm
        ros::Subscriber _JointTrajSubscriber;
        ros::Publisher _ControllerStatePublisher;
        ros::Publisher _JointStatePublisher;
        ros::Publisher _ControllerFeedbackPublisher;
        ros::Timer _StatusUpdateTimer;

        // topic names
        std::string _CntrlStatePubTopic;
        std::string _ControlFeedbackPubTopic;
        std::string _JointStatePubTopic;
        std::string _JointTrajSubsTopic;

        // ros parameters
        std::vector<std::string> _JointNames;

        // last states
        sensor_msgs::JointState _LastJointState;
        control_msgs::FollowJointTrajectoryFeedback _LastControllerTrajState;
        pr2_controllers_msgs::JointTrajectoryControllerState _LastControllerJointState;

        // others
        bool _ProcessingRequest;
};

#endif /* SIMULATEDCONTROLLER_H_ */