hebiros_group.h

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#pragma once

#include "ros/ros.h"
#include "sensor_msgs/JointState.h"

#include "hebiros/FeedbackMsg.h"

// Base class for physical and simulated groups of modules.
class HebirosGroup {

  public:

    HebirosGroup();
    virtual ~HebirosGroup() = default;

    int size;
    std::map<std::string, std::string> joint_full_names;
    std::map<std::string, int> joints;
    sensor_msgs::JointState joint_state_msg;
    hebiros::FeedbackMsg feedback_msg;

    virtual void setFeedbackFrequency(float frequency_hz);
    virtual void setCommandLifetime(float lifetime_ms);
};