joint_state_listener.h

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#ifndef DYNAMIC_ROBOT_STATE_PUBLISHER_JOINT_STATE_LISTENER_H
#define DYNAMIC_ROBOT_STATE_PUBLISHER_JOINT_STATE_LISTENER_H

#include <mutex>

#include <dynamic_reconfigure/server.h>

#include <robot_state_publisher/joint_state_listener.h>
#include <dynamic_robot_state_publisher/robot_state_publisher.h>
#include <dynamic_robot_state_publisher/DynamicRobotStateConfig.h>

namespace robot_state_publisher
{
class DynamicJointStateListener : public JointStateListener
{
public:
  DynamicJointStateListener(
    const Tree &tree, const MimicMap &m, const urdf::Model &model);

  bool reloadRobotModel(const std::string &urdf = "");

  static bool loadModel(KDL::Tree &tree, MimicMap &mimic_map,
                        urdf::Model &model, const std::string &urdf = "");

protected:
  void callbackJointState(const JointStateConstPtr &state) override;

  std::mutex updateOngoing;

  DynamicRobotStatePublisher dynamicPublisher;

  dynamic_reconfigure::Server<DynamicRobotStateConfig> dynparamServer;

  void configChangedCb(DynamicRobotStateConfig &config, uint32_t level);

};
}

#endif //DYNAMIC_ROBOT_STATE_PUBLISHER_JOINT_STATE_LISTENER_H