RosCartesianTask.h
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1 //| This file is a part of the ORCA framework.
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3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
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9 //| ORCA is a whole-body reactive controller framework for robotics.
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36 
37 #pragma once
38 
39 #include "orca/task/CartesianTask.h"
42 
43 namespace orca_ros
44 {
45 namespace task
46 {
47 
48 
50 {
51 public:
52  RosCartesianTask(const std::string& robot_name,
53  const std::string& controller_name,
54  std::shared_ptr<orca::task::CartesianTask> cart_task);
55  virtual ~RosCartesianTask();
56 
57 private:
58 
59  bool setDesiredService(orca_ros::SetMatrix::Request &req, orca_ros::SetMatrix::Response & res);
60  bool setBaseFrameService(orca_ros::SetString::Request &req, orca_ros::SetString::Response & res);
61  bool setControlFrameService(orca_ros::SetString::Request &req, orca_ros::SetString::Response & res);
62  bool getBaseFrameService(orca_ros::GetString::Request &req, orca_ros::GetString::Response & res);
63  bool getControlFrameService(orca_ros::GetString::Request &req, orca_ros::GetString::Response & res);
64 
65 private:
66  void publishCurrentState();
67  void desiredStateSubscriberCb(const orca_ros::CartesianTaskState::ConstPtr& msg);
68 
69 private:
70  std::shared_ptr<orca::task::CartesianTask> cart_task_;
71  std::shared_ptr<orca::common::CartesianAccelerationPID> cart_servo_;
72  std::shared_ptr<orca_ros::common::RosCartesianAccelerationPID> cart_servo_wrapper_;
73 
74  ros::ServiceServer ss_setDesired_;
75  ros::ServiceServer ss_setBaseFrame_;
76  ros::ServiceServer ss_setControlFrame_;
77  ros::ServiceServer ss_getBaseFrame_;
78  ros::ServiceServer ss_getControlFrame_;
79 
80 private:
81  ros::Publisher current_state_pub_;
82  ros::Subscriber desired_state_sub_;
83  orca_ros::CartesianTaskState current_state_msg_;
84 };
85 
86 } // namespace task
87 } // namesapce orca
RosCartesianTask(const std::string &robot_name, const std::string &controller_name, std::shared_ptr< orca::task::CartesianTask > cart_task)
Definition: RosCartesianTask.cc:5
Definition: RosCartesianTask.h:49
virtual ~RosCartesianTask()
Definition: RosCartesianTask.cc:28
Definition: RosCartesianAccelerationPID.h:42
Definition: RosGenericTask.h:47