joint_state.hpp
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00001 /*
00002  * Copyright 2015 Aldebaran
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016 */
00017 
00018 #ifndef JOINT_STATES_PUBLISHER_HPP
00019 #define JOINT_STATES_PUBLISHER_HPP
00020 
00021 /*
00022 * ROS includes
00023 */
00024 #include <ros/ros.h>
00025 #include <geometry_msgs/Transform.h>
00026 #include <sensor_msgs/JointState.h>
00027 #include <tf2_ros/transform_broadcaster.h>
00028 
00029 namespace naoqi
00030 {
00031 namespace publisher
00032 {
00033 
00034 class JointStatePublisher
00035 {
00036 
00037 public:
00038   JointStatePublisher( const std::string& topic = "/joint_states" );
00039 
00040   inline std::string topic() const
00041   {
00042   return topic_;
00043   }
00044 
00045   inline bool isInitialized() const
00046   {
00047   return is_initialized_;
00048   }
00049 
00050   virtual void publish( const sensor_msgs::JointState& js_msg,
00051                         const std::vector<geometry_msgs::TransformStamped>& tf_transforms );
00052 
00053   virtual void reset( ros::NodeHandle& nh );
00054 
00055   virtual bool isSubscribed() const;
00056 
00057 private:
00058   boost::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcasterPtr_;
00059 
00061   ros::Publisher pub_joint_states_;
00062 
00063   std::string topic_;
00064 
00065   bool is_initialized_;
00066 
00067 }; // class
00068 
00069 } //publisher
00070 } // naoqi
00071 
00072 #endif


naoqi_driver
Author(s): Karsten Knese
autogenerated on Sun Sep 17 2017 02:57:14