joint_state_controller.h

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// Copyright (C) 2012, hiDOF INC.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
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//     this list of conditions and the following disclaimer.
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//     documentation and/or other materials provided with the distribution.
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//     this software without specific prior written permission.
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/*
 * Author: Wim Meeussen
 */

#ifndef JOINT_STATE_CONTROLLER_JOINT_STATE_CONTROLLER_H
#define JOINT_STATE_CONTROLLER_JOINT_STATE_CONTROLLER_H

#include <controller_interface/controller.h>
#include <hardware_interface/joint_state_interface.h>
#include <pluginlib/class_list_macros.hpp>
#include <sensor_msgs/JointState.h>
#include <realtime_tools/realtime_publisher.h>
#include <boost/shared_ptr.hpp>

namespace joint_state_controller
{

class JointStateController: public controller_interface::Controller<hardware_interface::JointStateInterface>
{
public:
  JointStateController() : publish_rate_(0.0) {}

  virtual bool init(hardware_interface::JointStateInterface* hw,
                    ros::NodeHandle&                         root_nh,
                    ros::NodeHandle&                         controller_nh);
  virtual void starting(const ros::Time& time);
  virtual void update(const ros::Time& time, const ros::Duration& /*period*/);
  virtual void stopping(const ros::Time& /*time*/);

private:
  std::vector<hardware_interface::JointStateHandle> joint_state_;
  boost::shared_ptr<realtime_tools::RealtimePublisher<sensor_msgs::JointState> > realtime_pub_;
  ros::Time last_publish_time_;
  double publish_rate_;
  unsigned int num_hw_joints_; 

  void addExtraJoints(const ros::NodeHandle& nh, sensor_msgs::JointState& msg);
};

}

#endif