joint_calibration_controller.h
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34 
35 #ifndef PR2_JOINT_CALIBRATION_CONTROLLER
36 #define PR2_JOINT_CALIBRATION_CONTROLLER
37 
38 #include "ros/node_handle.h"
42 #include "std_msgs/Empty.h"
43 #include "pr2_controllers_msgs/QueryCalibrationState.h"
44 
45 
46 namespace controller
47 {
48 
50 {
51 public:
54 
55  virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
56  virtual void starting();
57  virtual void update();
58 
59  bool isCalibrated(pr2_controllers_msgs::QueryCalibrationState::Request& req, pr2_controllers_msgs::QueryCalibrationState::Response& resp);
60 
61 
62 protected:
67  boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
68 
70  int state_;
72 
75 
79 
81 };
82 
83 }
84 
85 
86 #endif
pr2_hardware_interface::Actuator * actuator_
virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Empty > > pub_calibrated_
boost::shared_ptr< pr2_mechanism_model::Transmission > transmission_
bool isCalibrated(pr2_controllers_msgs::QueryCalibrationState::Request &req, pr2_controllers_msgs::QueryCalibrationState::Response &resp)
resp
controller::JointVelocityController vc_


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