joint_state_listener.h

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/* Author: Wim Meeussen */
 
#ifndef JOINT_STATE_LISTENER_H
#define JOINT_STATE_LISTENER_H
 
#include <memory>
#include <map>
#include <string>
 
#include <boost/scoped_ptr.hpp>
#include <urdf/model.h>
#include <kdl/tree.hpp>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
 
#include "robot_state_publisher/robot_state_publisher.h"
 
namespace robot_state_publisher {
 
typedef boost::shared_ptr<sensor_msgs::JointState const> JointStateConstPtr;
typedef std::map<std::string, urdf::JointMimicSharedPtr > MimicMap;
 
class JointStateListener {
public:
  JointStateListener();
 
  JointStateListener(const KDL::Tree& tree, const MimicMap& m, const urdf::Model& model = urdf::Model());
 
  JointStateListener(const std::shared_ptr<RobotStatePublisher>& rsp, const MimicMap& m);
 
 
  ~JointStateListener();
 
private:
  std::string getTFPrefix();
 
protected:
  virtual void callbackJointState(const JointStateConstPtr& state);
  virtual void callbackFixedJoint(const ros::TimerEvent& e);
 
  ros::Duration publish_interval_;
  std::shared_ptr<RobotStatePublisher> state_publisher_;
  ros::Subscriber joint_state_sub_;
  ros::Timer timer_;
  ros::Time last_callback_time_;
  std::map<std::string, ros::Time> last_publish_time_;
  MimicMap mimic_;
  bool use_tf_static_;
  bool ignore_timestamp_;
 
};
}
 
#endif