channel.h
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00001 
00025 #ifndef ROBOTEQ_CHANNEL
00026 #define ROBOTEQ_CHANNEL
00027 
00028 #include "ros/ros.h"
00029 
00030 namespace roboteq_msgs {
00031   ROS_DECLARE_MESSAGE(Command);
00032   ROS_DECLARE_MESSAGE(Feedback);
00033 }
00034 
00035 namespace roboteq {
00036 
00037 class Controller;
00038 
00039 class Channel {
00040 public:
00041   Channel(int channel_num, std::string ns, Controller* controller);
00042   void feedbackCallback(std::vector<std::string>);
00043 
00044 protected:
00045   void cmdCallback(const roboteq_msgs::Command&);
00046   void timerCallback(const ros::TimerEvent&);
00047 
00048   ros::NodeHandle nh_;
00049   boost::shared_ptr<Controller> controller_;
00050   int channel_num_;
00051   float max_rpm_;
00052 
00053   ros::Subscriber sub_cmd_;
00054   ros::Publisher pub_feedback_;
00055   ros::Timer timer_init_;
00056 
00057   ros::Time last_feedback_time_;
00058 };
00059 
00060 }
00061 
00062 #endif


roboteq_driver
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autogenerated on Fri Aug 28 2015 12:27:25