ir_controller_node.h
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00001 #ifndef __IR_CONTROLLER_NODE_H__
00002 #define __IR_CONTROLLER_NODE_H__
00003 
00027 #include <ros/ros.h>
00028 #include "ir_driver_interface.h"
00029 
00030 // messages and services
00031 #include <ir_controller_msgs/GetTvAction.h>
00032 #include <ir_controller_msgs/TvActions.h>
00033 #include <ir_controller_msgs/SetTvAction.h>
00034 
00035 class IRControllerNode {
00036     public:
00041         IRControllerNode(IrDriverInterface *ir_driver);
00042 
00046         ~IRControllerNode();
00047 
00053         void init();
00054 
00060         void spin();
00061 
00063         // publishers
00065 
00069         void publish(std::string command);
00070 
00072         // services
00074 
00081         bool send_command(ir_controller_msgs::SetTvAction::Request & req,
00082                           ir_controller_msgs::SetTvAction::Response & resp);
00083 
00084     private:
00085         ros::NodeHandle _nh;
00086         ros::NodeHandle _nh_private;
00087 
00088         ros::Publisher _action_pub;
00089 
00090         ros::ServiceServer _action_srv;
00091 
00092         ros::Rate _publish_rate;
00093 
00094         IrDriverInterface *_ir_driver;
00095 
00096         bool _is_on;
00097 };
00098 
00099 #endif


ir_controller
Author(s): Raul Perula-Martinez
autogenerated on Wed Apr 1 2015 10:17:12