Revision e4bb9fd4 examples/meka/src/mekajointinterface.cpp

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examples/meka/src/mekajointinterface.cpp
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}
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//! constructor


  		




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MekaJointInterface::MekaJointInterface(string _scope) : humotion::server::JointInterface(){


  		




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    scope = _scope;


  		




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    string js_topic     = scope + "/joint_states";


  		




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    string target_topic = scope + "/meka_roscontrol/head_position_trajectory_controller/command";


  		




  
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MekaJointInterface::MekaJointInterface(string _input_scope, string _output_scope) : humotion::server::JointInterface(){


  		




  
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    input_scope = _input_scope;


  		




  
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    output_scope = _output_scope;


  		




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    //subscribe to meka joint states


  		




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    int argc = 0;


  		




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    ros::NodeHandle n;


  		




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    printf("> listening on jointstates on '%s'\n",js_topic.c_str());


  		




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    joint_state_subscriber = n.subscribe(js_topic, 150, &MekaJointInterface::incoming_jointstates , this);


  		




  
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    printf("> listening on jointstates on '%s'\n",input_scope.c_str());


  		




  
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    joint_state_subscriber = n.subscribe(input_scope, 150, &MekaJointInterface::incoming_jointstates , this);


  		




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    printf("> sending targets on '%s'\n", target_topic.c_str());


  		




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    target_publisher = n.advertise<trajectory_msgs::JointTrajectory>(target_topic, 100);


  		




  
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    printf("> sending targets on '%s'\n", output_scope.c_str());


  		




  
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    target_publisher = n.advertise<trajectory_msgs::JointTrajectory>(output_scope, 100);


  		




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    //tell humotion about min/max joint values:


  		












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