Program Listing for File speed_scaling_state_broadcaster.hpp

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// Copyright 2019, FZI Forschungszentrum Informatik
//
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// modification, are permitted provided that the following conditions are met:
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//    * Neither the name of the {copyright_holder} nor the names of its
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//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef UR_CONTROLLERS__SPEED_SCALING_STATE_BROADCASTER_HPP_
#define UR_CONTROLLERS__SPEED_SCALING_STATE_BROADCASTER_HPP_

#include <memory>
#include <string>
#include <vector>

#include "controller_interface/controller_interface.hpp"
#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/duration.hpp"
#include "std_msgs/msg/float64.hpp"
#include "speed_scaling_state_broadcaster_parameters.hpp"

namespace ur_controllers
{
class SpeedScalingStateBroadcaster : public controller_interface::ControllerInterface
{
public:
  SpeedScalingStateBroadcaster();

  controller_interface::InterfaceConfiguration command_interface_configuration() const override;

  controller_interface::InterfaceConfiguration state_interface_configuration() const override;

  controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;

  controller_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;

  controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;

  controller_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;

  controller_interface::CallbackReturn on_init() override;

protected:
  std::vector<std::string> sensor_names_;
  double publish_rate_;

  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Float64>> speed_scaling_state_publisher_;
  std_msgs::msg::Float64 speed_scaling_state_msg_;

  // Parameters from ROS for SpeedScalingStateBroadcaster
  std::shared_ptr<speed_scaling_state_broadcaster::ParamListener> param_listener_;
  speed_scaling_state_broadcaster::Params params_;
};
}  // namespace ur_controllers
#endif  // UR_CONTROLLERS__SPEED_SCALING_STATE_BROADCASTER_HPP_