24 #ifndef THORMANG3_BASE_MODULE_BASE_MODULE_H_ 25 #define THORMANG3_BASE_MODULE_BASE_MODULE_H_ 32 #include <std_msgs/Int16.h> 33 #include <std_msgs/Float64.h> 34 #include <std_msgs/String.h> 35 #include <geometry_msgs/Pose.h> 36 #include <boost/thread.hpp> 37 #include <eigen3/Eigen/Eigen> 38 #include <yaml-cpp/yaml.h> 40 #include "robotis_controller_msgs/StatusMsg.h" 79 void process(std::map<std::string, robotis_framework::Dynamixel *> dxls, std::map<std::string, double> sensors);
85 void initPoseMsgCallback(
const std_msgs::String::ConstPtr& msg);
88 void initPoseTrajGenerateProc();
90 void poseGenerateProc(Eigen::MatrixXd joint_angle_pose);
91 void poseGenerateProc(std::map<std::string, double>& joint_angle_pose);
100 void setCtrlModule(std::string module);
101 void parseIniPoseData(
const std::string &path);
102 void publishStatusMsg(
unsigned int type, std::string msg);
103 void publishDoneMsg(
const std::string done_msg);
ros::Publisher movement_done_pub_
ROSCONSOLE_DECL void initialize()
boost::thread tra_gene_tread_
BaseJointState * joint_state_
ros::Publisher set_ctrl_module_pub_
boost::thread queue_thread_
ros::Publisher status_msg_pub_
BaseModuleState * base_module_state_
std::map< std::string, int > joint_name_to_id_