00001 00012 #ifndef ROBOT_H_ 00013 #define ROBOT_H_ 00014 00015 #include <actionlib/client/simple_action_client.h> 00016 #include <ros/ros.h> 00017 #include <tf/transform_listener.h> 00018 #include <arm_navigation_msgs/MoveArmAction.h> 00019 00024 #define HEAD_MOVE_THRESH 0.01 00025 00032 class robot 00033 { 00034 public: 00038 robot(); 00039 00043 void checkTF(); 00044 00048 void reset_left(); 00049 00053 void reset_right(); 00054 00055 private: 00065 void move_arm_to_pose(float x, float y, float z, std::string frame, std::string group); 00066 00067 ros::NodeHandle node; 00069 ros::Time t; 00071 tf::TransformListener tfl; 00072 actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_l_arm, move_r_arm; 00074 float last_x, last_y, last_z; 00075 }; 00076 00084 int main(int argc, char **argv); 00085 00086 #endif