industrial_robot_status_controller.h
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1 
19 #ifndef INDUSTRIAL_ROBOT_STATUS_CONTROLLER_INDUSTRIAL_ROBOT_STATUS_CONTROLLER_H_
20 #define INDUSTRIAL_ROBOT_STATUS_CONTROLLER_INDUSTRIAL_ROBOT_STATUS_CONTROLLER_H_
21 
23 
25 #include <industrial_msgs/RobotStatus.h>
27 
28 #include <memory>
29 
30 
32 {
33 
34 
37 
38 
40  : public controller_interface::Controller<InterfaceType>
41 {
42  public:
44 
45  virtual ~IndustrialRobotStatusController() override {}
46 
47  bool init(
48  InterfaceType* hw,
49  ros::NodeHandle& root_node_handle,
50  ros::NodeHandle& controller_node_handle) override;
51  void starting(const ros::Time& time) override;
52  void update(const ros::Time& time, const ros::Duration& period) override;
53 
54  private:
56  std::unique_ptr<HandleType> robot_status_handle_{};
57 
60  double publish_rate_;
61 };
62 
63 
64 } // namespace industrial_robot_status_controller
65 
66 #endif
bool init(InterfaceType *hw, ros::NodeHandle &root_node_handle, ros::NodeHandle &controller_node_handle) override
Definition: controller.cpp:30
void update(const ros::Time &time, const ros::Duration &period) override
Definition: controller.cpp:103
realtime_tools::RealtimePublisher< industrial_msgs::RobotStatus > robot_status_pub_


industrial_robot_status_controller
Author(s): G.A. vd. Hoorn (TU Delft Robotics Institute)
autogenerated on Tue Feb 11 2020 03:27:51