39 #include <orca/robot/RobotModel.h> 50 RosRobotModel(std::shared_ptr<orca::robot::RobotModel> r,
bool attach_state_callback=
false);
55 void currentStateSubscriberCb(
const orca_ros::RobotState::ConstPtr& msg);
56 bool getBaseFrameService(orca_ros::GetString::Request &req, orca_ros::GetString::Response &res);
57 bool getUrdfUrlService(orca_ros::GetString::Request &req, orca_ros::GetString::Response &res);
60 void waitForFirstState();
63 std::shared_ptr<orca::robot::RobotModel> robot_;
64 ros::Subscriber robot_state_sub_;
66 ros::Publisher joint_states_pub_;
67 sensor_msgs::JointState joint_states_;
69 Eigen::Matrix4d world_H_base_;
70 Eigen::VectorXd jointPos_;
71 Eigen::Matrix<double,6,1> baseVel_;
72 Eigen::VectorXd jointVel_;
73 Eigen::Vector3d gravity_;
75 bool first_robot_state_received_ =
false;
78 ros::ServiceServer ss_getBaseFrame_;
79 ros::ServiceServer ss_getUrdfUrl_;
Definition: RosWrapperBase.h:50
virtual ~RosRobotModel()
Definition: RosRobotModel.cc:28
Definition: RosCartesianAccelerationPID.h:42
RosRobotModel(std::shared_ptr< orca::robot::RobotModel > r, bool attach_state_callback=false)
Definition: RosRobotModel.cc:6
Definition: RosRobotModel.h:47