fake_calibration_controller.cpp
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34 
36 #include "ros/time.h"
38 
39 using namespace std;
40 using namespace controller;
41 
43 
44 namespace controller
45 {
46 
47 FakeCalibrationController::FakeCalibrationController()
48  : last_publish_time_(0), joint_(NULL)
49 {
50 }
51 
53 {
54 }
55 
57  ros::NodeHandle &n)
58 {
59  assert(robot);
60  robot_ = robot;
61  node_ = n;
62 
63  std::string joint_name;
64  if (!node_.getParam("joint", joint_name))
65  {
66  ROS_ERROR("No joint given (namespace: %s)", node_.getNamespace().c_str());
67  return false;
68  }
69  if (!(joint_ = robot->getJointState(joint_name)))
70  {
71  ROS_ERROR("Could not find joint \"%s\" (namespace: %s)",
72  joint_name.c_str(), node_.getNamespace().c_str());
73  return false;
74  }
75 
76  // advertise service to check calibration
78 
79  // "Calibrated" topic
81 
82  return true;
83 }
84 
85 
87 {
88 }
89 
90 
91 bool FakeCalibrationController::isCalibrated(pr2_controllers_msgs::QueryCalibrationState::Request& req,
92  pr2_controllers_msgs::QueryCalibrationState::Response& resp)
93 {
94  resp.is_calibrated = joint_->calibrated_;
95  return true;
96 }
97 
98 
100 {
101  assert(joint_);
102  joint_->calibrated_ = true;
103 }
104 
105 }
PLUGINLIB_EXPORT_CLASS(my_controller_ns::MyControllerClass, pr2_controller_interface::Controller)
pr2_mechanism_model::RobotState * robot_
pr2_mechanism_model::JointState * joint_
ServiceServer advertiseService(const std::string &service, bool(T::*srv_func)(MReq &, MRes &), T *obj)
const std::string & getNamespace() const
JointState * getJointState(const std::string &name)
boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Empty > > pub_calibrated_
bool getParam(const std::string &key, std::string &s) const
virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
#define ROS_ERROR(...)
bool isCalibrated(pr2_controllers_msgs::QueryCalibrationState::Request &req, pr2_controllers_msgs::QueryCalibrationState::Response &resp)


pr2_calibration_controllers
Author(s): Stuart Glaser
autogenerated on Mon Jun 10 2019 14:26:37