fake_calibration_controller.cpp
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00034 
00035 #include "pr2_calibration_controllers/fake_calibration_controller.h"
00036 #include "ros/time.h"
00037 #include "pluginlib/class_list_macros.h"
00038 
00039 using namespace std;
00040 using namespace controller;
00041 
00042 PLUGINLIB_EXPORT_CLASS(controller::FakeCalibrationController, pr2_controller_interface::Controller)
00043 
00044 namespace controller
00045 {
00046 
00047 FakeCalibrationController::FakeCalibrationController()
00048   : last_publish_time_(0), joint_(NULL)
00049 {
00050 }
00051 
00052 FakeCalibrationController::~FakeCalibrationController()
00053 {
00054 }
00055 
00056 bool FakeCalibrationController::init(pr2_mechanism_model::RobotState *robot,
00057                                         ros::NodeHandle &n)
00058 {
00059   assert(robot);
00060   robot_ = robot;
00061   node_ = n;
00062 
00063   std::string joint_name;
00064   if (!node_.getParam("joint", joint_name))
00065   {
00066     ROS_ERROR("No joint given (namespace: %s)", node_.getNamespace().c_str());
00067     return false;
00068   }
00069   if (!(joint_ = robot->getJointState(joint_name)))
00070   {
00071     ROS_ERROR("Could not find joint \"%s\" (namespace: %s)",
00072               joint_name.c_str(), node_.getNamespace().c_str());
00073     return false;
00074   }
00075 
00076   // advertise service to check calibration
00077   is_calibrated_srv_ = node_.advertiseService("is_calibrated", &FakeCalibrationController::isCalibrated, this);
00078 
00079   // "Calibrated" topic
00080   pub_calibrated_.reset(new realtime_tools::RealtimePublisher<std_msgs::Empty>(node_, "calibrated", 1));
00081 
00082   return true;
00083 }
00084 
00085 
00086 void FakeCalibrationController::starting()
00087 {
00088 }
00089 
00090 
00091 bool FakeCalibrationController::isCalibrated(pr2_controllers_msgs::QueryCalibrationState::Request& req,
00092                                                 pr2_controllers_msgs::QueryCalibrationState::Response& resp)
00093 {
00094   resp.is_calibrated = joint_->calibrated_;
00095   return true;
00096 }
00097 
00098 
00099 void FakeCalibrationController::update()
00100 {
00101   assert(joint_);
00102   joint_->calibrated_ = true;
00103 }
00104 
00105 }


pr2_calibration_controllers
Author(s): Stuart Glaser
autogenerated on Fri Jan 3 2014 11:41:56