ROS Programming: Building Powerful Robots

Step 2 – Creating controller header file

We will get the header file my_controller_file.h from the chapter_6_codes/my_controller_pkg/include/my_controller_pkg folder.

Given in the following is the header file definition of my_controller_file.h. We have discussed each line of this code while discussing pr2_controller_interface:

#include <pr2_controller_interface/controller.h>#include <pr2_mechanism_model/joint.h>namespace my_controller_ns{//Inheriting Controller class inside pr2_controller_interfaceclass MyControllerClass: public pr2_controller_interface::Controller{private:  pr2_mechanism_model::JointState* joint_state_;  double init_pos_;public:  virtual bool init(pr2_mechanism_model::RobotState *robot,                   ros::NodeHandle &n); virtual void ...