.. _program_listing_file__tmp_ws_src_turtlebot3_turtlebot3_node_include_turtlebot3_node_sensors_joint_state.hpp:

Program Listing for File joint_state.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_turtlebot3_turtlebot3_node_include_turtlebot3_node_sensors_joint_state.hpp>` (``/tmp/ws/src/turtlebot3/turtlebot3_node/include/turtlebot3_node/sensors/joint_state.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 ROBOTIS CO., LTD.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   //
   // Author: Darby Lim
   
   #ifndef TURTLEBOT3_NODE__SENSORS__JOINT_STATE_HPP_
   #define TURTLEBOT3_NODE__SENSORS__JOINT_STATE_HPP_
   
   #include <sensor_msgs/msg/joint_state.hpp>
   
   #include <memory>
   #include <string>
   
   #include "turtlebot3_node/sensors/sensors.hpp"
   
   namespace robotis
   {
   namespace turtlebot3
   {
   namespace sensors
   {
   constexpr uint8_t JOINT_NUM = 2;
   
   // ref) http://emanual.robotis.com/docs/en/dxl/x/xl430-w250/#goal-velocity104
   constexpr double RPM_TO_MS = 0.229 * 0.0034557519189487725;
   
   // 0.087890625[deg] * 3.14159265359 / 180 = 0.001533981f
   constexpr double TICK_TO_RAD = 0.001533981;
   
   class JointState : public Sensors
   {
   public:
     explicit JointState(
       std::shared_ptr<rclcpp::Node> & nh,
       const std::string & topic_name = "joint_states",
       const std::string & frame_id = "base_link");
   
     void publish(
       const rclcpp::Time & now,
       std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper) override;
   
   private:
     rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr pub_;
   };
   }  // namespace sensors
   }  // namespace turtlebot3
   }  // namespace robotis
   #endif  // TURTLEBOT3_NODE__SENSORS__JOINT_STATE_HPP_