wrench_relay_handler.h

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#ifndef FSROBO_R_DRIVER_WRENCH_RELAY_HANDLER_H
#define FSROBO_R_DRIVER_WRENCH_RELAY_HANDLER_H

#include "ros/ros.h"
#include "simple_message/message_handler.h"
#include "fsrobo_r_driver/simple_message/messages/wrench_message.h"


namespace fsrobo_r_driver
{
namespace wrench_relay_handler
{

class WrenchRelayHandler : public industrial::message_handler::MessageHandler
{
  // since this class defines a different init(), this helps find the base-class init()
  using industrial::message_handler::MessageHandler::init;

public:

  WrenchRelayHandler() {};


  bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection);

protected:

  ros::Publisher pub_wrench_stamped_;
  ros::NodeHandle node_;

  bool internalCB(fsrobo_r_driver::simple_message::wrench_message::WrenchMessage &in);

private:
  bool internalCB(industrial::simple_message::SimpleMessage &in);
  std::string force_frame_id_;
};

} // namespace wrench_relay_handler
} // namespace fsrobo_r_driver

#endif // FSROBO_R_DRIVER_WRENCH_RELAY_HANDLER_H