pr2_gripper_controller.h

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#ifndef PR2_GRIPPER_CONTROLLER_H__
#define PR2_GRIPPER_CONTROLLER_H__
 
#include <ros/node_handle.h>
 
#include <pr2_controller_interface/controller.h>
#include <control_toolbox/pid.h>
#include <control_toolbox/pid_gains_setter.h>
#include <boost/scoped_ptr.hpp>
#include <realtime_tools/realtime_box.h>
#include <realtime_tools/realtime_publisher.h>
#include <std_msgs/Float64.h>
 
#include <pr2_controllers_msgs/JointControllerState.h>
#include <pr2_controllers_msgs/Pr2GripperCommand.h>
 
namespace controller
{
 
class Pr2GripperController : public pr2_controller_interface::Controller
{
public:
 
  Pr2GripperController();
  ~Pr2GripperController();
 
  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
 
  virtual void starting() {
    using namespace pr2_controllers_msgs;
    Pr2GripperCommandPtr c(new Pr2GripperCommand);
    c->position = joint_state_->position_;
    c->max_effort = 0.0;
    command_box_.set(c);
  }
 
  virtual void update();
 
  pr2_mechanism_model::JointState *joint_state_;
  realtime_tools::RealtimeBox<pr2_controllers_msgs::Pr2GripperCommandConstPtr> command_box_;
 
private:
  int loop_count_;
  pr2_mechanism_model::RobotState *robot_;
  control_toolbox::Pid pid_;
  ros::Time last_time_;
 
  ros::NodeHandle node_;
 
  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
      pr2_controllers_msgs::JointControllerState> > controller_state_publisher_ ;
 
  ros::Subscriber sub_command_;
  void commandCB(const pr2_controllers_msgs::Pr2GripperCommandConstPtr& msg);
};
 
} // namespace
 
#endif