front_joints_node.h

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/*
 * \back_joints_node.h
 * \allows the stopping of the segway base without losing power to peripherals
 *
 * carl_estop_node creates a ROS node that allows the stopping of the robot after a specified amount of time.
 * This node listens to a /carl_estop topic
 * and sends messages to the /move_base actionlib to stop the current execution of a goal.
 *
 * \author Russell Toris, WPI - russell.toris@gmail.com *
 * \author Chris Dunkers, WPI - cmdunkers@wpi.edu
 * \date July 24, 2014
 */

#ifndef FRONT_JOINTS_NODE_H_
#define FRONT_JOINTS_NODE_H_

#include "ros/ros.h"
#include "sensor_msgs/JointState.h"
#include "dynamixel_msgs/MotorStateList.h"
#include "dynamixel_msgs/MotorState.h"
#include <math.h>

class front_joints
{
  public:
    front_joints();
    /*
     * estop function to check the time difference to see if any goal position in move_base should be cancelled
     *
     * \param msg the empty message
     */
    void joints(const dynamixel_msgs::MotorStateList::ConstPtr& state);

  private:
        //main node handle
        ros::NodeHandle node;

    // the ros subscriber and publisher
    ros::Subscriber creative_sub;
    ros::Publisher joint_states_pub;

    //map to store the ids and the link names of each servo connected
    std::map<int,std::string> front_servos;
};

#endif