pr2_joint_trajectory_client.h
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00001 /*
00002  * follow_joint_trajectory_client.h
00003  *
00004  *  Created on: 06.11.2011
00005  *      Author: martin
00006  */
00007 
00008 #ifndef FOLLOW_JOINT_TRAJECTORY_CLIENT_H_
00009 #define FOLLOW_JOINT_TRAJECTORY_CLIENT_H_
00010 
00011 #include <ros/ros.h>
00012 #include <control_msgs/JointTrajectoryAction.h>
00013 #include <actionlib/client/simple_action_client.h>
00014 #include <sensor_msgs/JointState.h>
00015 #include <trajectory_msgs/JointTrajectory.h>
00016 
00017 namespace katana_tutorials
00018 {
00019 
00020 typedef actionlib::SimpleActionClient<control_msgs::JointTrajectoryAction> TrajClient;
00021 
00022 class Pr2JointTrajectoryClient
00023 {
00024 public:
00025   Pr2JointTrajectoryClient();
00026   virtual ~Pr2JointTrajectoryClient();
00027 
00028   void startTrajectory(control_msgs::JointTrajectoryGoal goal);
00029   control_msgs::JointTrajectoryGoal makeArmUpTrajectory();
00030   actionlib::SimpleClientGoalState getState();
00031 
00032 private:
00033   ros::NodeHandle nh_;
00034   TrajClient traj_client_;
00035   ros::Subscriber joint_state_sub_;
00036   std::vector<std::string> joint_names_;
00037   bool got_joint_state_;
00038   std::vector<double> current_joint_state_;
00039   ros::AsyncSpinner spinner_;
00040 
00041   void jointStateCB(const sensor_msgs::JointState::ConstPtr &msg);
00042 };
00043 
00044 } /* namespace katana_tutorials */
00045 #endif /* FOLLOW_JOINT_TRAJECTORY_CLIENT_H_ */


katana_tutorials
Author(s): Martin G√ľnther
autogenerated on Thu Jun 6 2019 21:42:31