joint_state_listener.h

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/* Author: Wim Meeussen */

#ifndef JOINT_STATE_LISTENER_H
#define JOINT_STATE_LISTENER_H

#include <kdl/tree.hpp>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include "robot_state_chain_publisher/robot_state_publisher.h"

using namespace std;
using namespace ros;
using namespace KDL;

typedef boost::shared_ptr<sensor_msgs::JointState const> JointStateConstPtr;

namespace robot_state_chain_publisher{

class JointStateListener{
public:
  JointStateListener(const KDL::Tree& tree);

  ~JointStateListener();

private:
  void timerCallback(const ros::TimerEvent& e);
  void callbackJointState(const JointStateConstPtr& state);

  NodeHandle n_, n_tilde_;
  Duration publish_delay_;
  Duration max_publish_delay_;
  Time last_publish_time_;
  Timer timer_;
  robot_state_chain_publisher::RobotStatePublisher state_publisher_;
  Subscriber joint_state_sub_;
  map<string, RobotStatePublisher::JointState > joint_positions;
};
}


#endif