joint_trajectory_action.h

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#ifndef JOINT_TRAJTORY_ACTION_H
#define JOINT_TRAJTORY_ACTION_H
 
#include <ros/ros.h>
#include <actionlib/server/action_server.h>
 
#include <trajectory_msgs/JointTrajectory.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <control_msgs/FollowJointTrajectoryFeedback.h>
#include <industrial_msgs/RobotStatus.h>
 
namespace industrial_robot_client
{
namespace joint_trajectory_action
{
 
class JointTrajectoryAction
{
 
public:
  JointTrajectoryAction();
 
  ~JointTrajectoryAction();
 
    void run() { ros::spin(); }
 
private:
 
  typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> JointTractoryActionServer;
 
  std::string name_;
 
  ros::NodeHandle node_;
 
  JointTractoryActionServer action_server_;
 
  ros::Publisher pub_trajectory_command_;
 
  ros::Subscriber sub_trajectory_state_;
 
  ros::Subscriber sub_robot_status_;
 
  ros::Timer watchdog_timer_;
 
  bool controller_alive_;
 
  bool has_active_goal_;
 
  bool has_moved_once_;
 
  JointTractoryActionServer::GoalHandle active_goal_;
  trajectory_msgs::JointTrajectory current_traj_;
 
  static const double DEFAULT_GOAL_THRESHOLD_;// = 0.01;
 
  double goal_threshold_;
 
  std::vector<std::string> joint_names_;
 
  control_msgs::FollowJointTrajectoryFeedbackConstPtr last_trajectory_state_;
 
  industrial_msgs::RobotStatusConstPtr last_robot_status_;
 
  ros::Time time_to_check_;
 
  static const double WATCHDOG_PERIOD_;// = 1.0;
 
  void watchdog(const ros::TimerEvent &e);
 
  void goalCB(JointTractoryActionServer::GoalHandle gh);
 
  void cancelCB(JointTractoryActionServer::GoalHandle gh);
  void controllerStateCB(const control_msgs::FollowJointTrajectoryFeedbackConstPtr &msg);
 
  void robotStatusCB(const industrial_msgs::RobotStatusConstPtr &msg);
 
  void abortGoal();
 
  bool withinGoalConstraints(const control_msgs::FollowJointTrajectoryFeedbackConstPtr &msg,
                             const trajectory_msgs::JointTrajectory & traj);
};
 
} //joint_trajectory_action
} //industrial_robot_client
 
#endif /* JOINT_TRAJTORY_ACTION_H */