tibi_dabo_kinect_arm_alg_node.h

Go to the documentation of this file.

// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _tibi_dabo_kinect_arm_alg_node_h_
#define _tibi_dabo_kinect_arm_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "tibi_dabo_kinect_arm_alg.h"

// [publisher subscriber headers]
#include <tf/tfMessage.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>

// [service client headers]
#include <kinematics_msgs/GetPositionIK.h>

// [action server client headers]
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <control_msgs/FollowJointTrajectoryAction.h>

class TibiDaboKinectArmAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboKinectArmAlgorithm>
{
  private:
    
    //my stuff
    char hand_tf[30];
    
    //kinect variables
    tf::TransformListener listener;
    tf::StampedTransform echo_transform;
    tf::Vector3 v;
    
    //Kinematics variables
    float x,y,z,theta1,theta2,theta3,theta4;
    
    //dynamic reconfigure var
    std::string arm_id;
    bool debug;
    bool angle_mode_debug;
    double x_debug;
    double y_debug;
    double z_debug;
    double theta1_debug;
    double theta2_debug;
    double theta3_debug;
    double theta4_debug;
    
    
    // [publisher attributes]

    // [subscriber attributes]
    ros::Subscriber tf_subscriber_;
    void tf_callback(const tf::tfMessage::ConstPtr& msg);
    CMutex tf_mutex_;

    // [service attributes]

    // [client attributes]
    ros::ServiceClient GetPositionIK_client_;
    kinematics_msgs::GetPositionIK GetPositionIK_srv_;

    // [action server attributes]

    // [action client attributes]
    actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> FollowJointTrajectory_client_;
    control_msgs::FollowJointTrajectoryGoal FollowJointTrajectory_goal_;
    void FollowJointTrajectoryMakeActionRequest();
    void FollowJointTrajectoryDone(const actionlib::SimpleClientGoalState& state,  const control_msgs::FollowJointTrajectoryResultConstPtr& result);
    void FollowJointTrajectoryActive();
    void FollowJointTrajectoryFeedback(const control_msgs::FollowJointTrajectoryFeedbackConstPtr& feedback);
    
    bool joint_motion_done;


  public:
    TibiDaboKinectArmAlgNode(void);

    ~TibiDaboKinectArmAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif