cp_ros_control_interface.h

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#pragma once
#include <smacc/component.h>
#include <controller_manager_msgs/ControllerState.h>
 
namespace smacc
{
namespace components
{
struct ControllerTypeInfo
{
    std::string type;
    std::string baseClass;
};
 
enum Strictness
{
    BEST_EFFORT = 1,
    STRICT = 2
};
 
class CpRosControlInterface : public smacc::ISmaccComponent
{
public:
    CpRosControlInterface();
 
    virtual ~CpRosControlInterface();
 
    virtual void onInitialize() override;
 
    // template <typename TOrthogonal, typename TSourceObject>
    // void onOrthogonalAllocation() {}
 
    std::vector<ControllerTypeInfo> listControllerTypes();
 
    std::vector<controller_manager_msgs::ControllerState> listControllers();
 
    bool loadController(std::string name);
 
    bool unloadController(std::string name);
 
    bool reloadControllerLibraries(bool forceKill);
 
    bool switchControllers(std::vector<std::string> start_controllers,
                           std::vector<std::string> stop_controllers,
                           Strictness strictness);
 
    boost::optional<std::string> serviceName_;
 
private:
    ros::NodeHandle nh_;
 
    ros::ServiceClient srvListControllers;
    ros::ServiceClient srvListControllersTypes;
    ros::ServiceClient srvLoadController;
    ros::ServiceClient srvReloadControllerLibraries;
    ros::ServiceClient srvSwitchControllers;
    ros::ServiceClient srvUnloadController;
};
}
}