Revision 2cf3c285 server/include/MiddlewareROS.h

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server/include/MiddlewareROS.h
31 31 
#ifdef ROS_SUPPORT
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    #include "ros/ros.h"
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    #include <actionlib/client/simple_action_client.h>
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    #include <tf2_ros/transform_listener.h>
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    //messages


  		




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    #include "hlrc_server/phoneme.h"


  		




  ......




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    //boost::shared_ptr<ros::NodeHandle> node_handle;


  		




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    ros::NodeHandle *ros_node_handle;


  		




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    bool tick_necessary;


  		




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    /*ros::ServiceServer animation_service;


  		




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    ros::ServiceServer utterance_service;


  		




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    ros::ServiceServer default_emotion_service;


  		




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    ros::ServiceServer current_emotion_service;


  		




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    ros::ServiceServer gaze_service;


  		




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    ros::ServiceServer tts_service;*/


  		




  
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    //listen to tf tree


  		




  
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    tf2_ros::Buffer tfBuffer;


  		




  
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    boost::shared_ptr<tf2_ros::TransformListener> tfListener;


  		




  
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    //FIXME: These pointers are never destroyed. Shouldn't they be shared_ptrs?


  		




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    AnimationCallbackWrapper *animation_action_server;


  		




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    UtteranceCallbackWrapper *utterance_action_server;


  		




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    EmotionCallbackWrapper *current_emotion_action_server;


  		




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    actionlib::SimpleActionClient<hlrc_server::ttsAction> *tts_ac;


  		




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#endif


  		




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};


  		




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