carl_estop_node.h

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#ifndef CARL_ESTOP_H_
#define CARL_ESTOP_H_

#include <ros/ros.h>
#include <std_msgs/Empty.h>
#include <actionlib/client/simple_action_client.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <rmp_msgs/RMPCommand.h>

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> ActionClient;

class carl_estop
{
public:
  carl_estop();
  double get_frequency();

  void estop(void);

private:
  //main node handle
  ros::NodeHandle node;

  // the ros subscriber
  ros::Subscriber estop_sub;

  // ros publisher to rmp
  ros::Publisher rmp_pub;

  //variables for the parameter values to be stored in
  double stop_time_delay;
  double check_frequency;
  ros::Time last_receive;

  //variable used to make sure robot only says the connection lost once
  bool spoke;

  // A handle for the move_base action client thread
  ActionClient* actionClient;

  //message for the rmp
  rmp_msgs::RMPCommand rmp;

  void update_time(const std_msgs::Empty::ConstPtr& msg);

};

int main(int argc, char **argv);

#endif