JointStatePublisher.hpp

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/*
 * Copyright (c) 2010, Robot Control and Pattern Recognition Group, Warsaw University of Technology.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Robot Control and Pattern Recognition Group,
 *       Warsaw University of Technology nor the names of its contributors may
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#ifndef JOINTSTATEPUBLISHER_HPP
#define JOINTSTATEPUBLISHER_HPP

#include <string>
#include <vector>

#include <rtt/TaskContext.hpp>
#include <rtt/Port.hpp>
#include <rtt/Property.hpp>

#include "sensor_msgs/JointState.h"

class JointStatePublisher : public RTT::TaskContext
{
public:
  JointStatePublisher(const std::string& name);
  ~JointStatePublisher();

  bool configureHook();
  void updateHook();
protected:
  RTT::InputPort<std::vector<double> > msr_jnt_pos_port_;
  RTT::OutputPort<sensor_msgs::JointState> joint_state_port_;

  RTT::Property<std::vector<std::string> > joint_names_prop;
private:
  sensor_msgs::JointState joint_state_;
  std::vector<double> jnt_pos_;
  unsigned int number_of_joints_;
  std::vector<std::string> names_;
};

#endif