joint_state_recorder.h

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#ifndef _JOINT_STATE_RECORDER_H_
#define _JOINT_STATE_RECORDER_H_

#include <ros/ros.h>

#include <trajectory_execution_monitor/trajectory_recorder.h>
#include <sensor_msgs/JointState.h>

class JointStateTrajectoryRecorder : public trajectory_execution_monitor::TrajectoryRecorder {

public:

  JointStateTrajectoryRecorder(const std::string& topic_name) :
    TrajectoryRecorder(topic_name)
  {
    ros::NodeHandle nh;
    joint_state_subscriber_ = nh.subscribe(topic_name, 25, &JointStateTrajectoryRecorder::jointStateCallback, this);
  }
  
protected:

  void jointStateCallback(const sensor_msgs::JointStateConstPtr& joint_state) {
    std::map<std::string, double> joint_positions;
    std::map<std::string, double> joint_velocities;
    for(unsigned int i = 0; i < joint_state->name.size(); i++) {
      joint_positions[joint_state->name[i]] = joint_state->position[i];
      joint_velocities[joint_state->name[i]] = joint_state->velocity[i];
    }

    callCallbacks(joint_state->header.stamp,
                  joint_positions,
                  joint_velocities);
  }

  ros::Subscriber joint_state_subscriber_;

};

#endif