controller_action_node.hpp

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#ifndef __CONTROLLER_ACTION_NODE__
#define __CONTROLLER_ACTION_NODE__

#include <sensor_msgs/JointState.h>
#include <generic_control_toolbox/controller_template.hpp>
#include <stdexcept>

namespace generic_control_toolbox
{
class ControllerActionNode
{
 public:
  ControllerActionNode();
  ~ControllerActionNode();

  void runController(ControllerBase &controller);

 private:
  void jointStatesCb(const sensor_msgs::JointState::ConstPtr &msg);

  ros::NodeHandle nh_;
  sensor_msgs::JointState state_;
  ros::Subscriber joint_state_sub_;
  ros::Publisher state_pub_;
  bool got_first_;
  double loop_rate_;
};
}  // namespace generic_control_toolbox
#endif