ROS Programming: Building Powerful Robots

Step 3 – Creating controller source file

Create a folder called src inside the package and create a C++ file called my_controller_file.cpp, which is the class definition of the above header.

Given in the following is the definition of my_controller_file.cpp, which has to be saved inside the src folder:

#include "my_controller_pkg/my_controller_file.h"#include <pluginlib/class_list_macros.h>namespace my_controller_ns {/// Controller initialization in non-real-timebool MyControllerClass::init(pr2_mechanism_model::RobotState *robot,                            ros::NodeHandle &n){  std::string joint_name;  if (!n.getParam("joint_name", joint_name))  {    ROS_ERROR("No joint given in namespace: '%s')",              n.getNamespace().c_str());    return false;  } joint_state_ = robot->getJointState(joint_name); ...