joint_movement_action_controller.h
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00001 /*
00002  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
00003  * Copyright (C) 2010  University of Osnabrück
00004  *
00005  * This program is free software; you can redistribute it and/or
00006  * modify it under the terms of the GNU General Public License
00007  * as published by the Free Software Foundation; either version 2
00008  * of the License, or (at your option) any later version.
00009  *
00010  * This program is distributed in the hope that it will be useful,
00011  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00012  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013  * GNU General Public License for more details.
00014  *
00015  * You should have received a copy of the GNU General Public License
00016  * along with this program; if not, write to the Free Software
00017  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00018  *
00019  * joint_trajectory_action_controller.h
00020  *
00021  *  Created on: 14.04.2011
00022  *      Author: Henning Deeken <hdeeken@uos.de>
00023  */
00024 
00025 #ifndef JOINT_MOVEMENT_ACTION_CONTROLLER_H__
00026 #define JOINT_MOVEMENT_ACTION_CONTROLLER_H__
00027 
00028 #include <vector>
00029 
00030 #include <ros/node_handle.h>
00031 
00032 #include <actionlib/server/simple_action_server.h>
00033 #include <actionlib/client/simple_action_client.h>
00034 
00035 #include <katana/AbstractKatana.h>
00036 #include <sensor_msgs/JointState.h>
00037 #include <katana_msgs/JointMovementAction.h>
00038 
00039 #include <moveit_msgs/JointLimits.h>
00040 
00041 namespace katana
00042 {
00043 
00044 class JointMovementActionController
00045 {
00046   typedef actionlib::SimpleActionServer<katana_msgs::JointMovementAction> JMAS;
00047   typedef actionlib::SimpleActionClient<katana_msgs::JointMovementAction> JMAC;
00048 
00049 public:
00050   JointMovementActionController(boost::shared_ptr<AbstractKatana> katana);
00051   virtual ~JointMovementActionController();
00052 
00053 private:
00054   // robot and joint state
00055   std::vector<std::string> joints_; // controlled joints, same order as expected by the KNI (index 0 = first motor, ...)
00056   std::vector<std::string> gripper_joints_;
00057   boost::shared_ptr<AbstractKatana> katana_;
00058 
00059   sensor_msgs::JointState movement_goal_;
00060 
00061   // action server
00062   void executeCB(const JMAS::GoalConstPtr &goal);
00063   JMAS action_server_;
00064 
00065   bool suitableJointGoal(const std::vector<std::string>& jointGoalNames);
00066 
00067   sensor_msgs::JointState adjustJointGoalPositionsToMotorLimits(const sensor_msgs::JointState &jointGoal);
00068 
00069 };
00070 }
00071 
00072 #endif /* JOINT_MOVEMENT_ACTION_CONTROLLER_H_ */


katana
Author(s): Martin Günther
autogenerated on Mon Aug 14 2017 02:45:49