00001 #include <ros/ros.h> 00002 #include <sensor_msgs/JointState.h> 00003 00004 #include "r2_msgs/PoseState.h" 00005 #include "robodyn_controllers/RosMsgTreeFk.h" 00006 00007 class R2RosTreeFk 00008 { 00009 public: 00010 R2RosTreeFk(std::string urdf); 00011 virtual ~R2RosTreeFk() {} 00012 void setup(std::string inputJointStatesName, std::string outputPoseStatesName); 00013 void jointStatesCallback(const sensor_msgs::JointState& msg); 00014 00015 private: 00016 ros::Publisher poseStatesOut; 00017 ros::Subscriber jointStatesIn; 00018 00019 r2_msgs::PoseState poseStatesOutMsg; 00020 00021 RosMsgTreeFk treeFk; 00022 };