ros_command_config_rapid_command_config.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef DDS_ROS_BRIDGE_ROS_COMMAND_CONFIG_RAPID_COMMAND_CONFIG_H_
#define DDS_ROS_BRIDGE_ROS_COMMAND_CONFIG_RAPID_COMMAND_CONFIG_H_
 
#include <ros/ros.h>
 
#include <sstream>
#include <string>
 
#include "config_reader/config_reader.h"
 
#include "dds_ros_bridge/rapid_pub.h"
 
#include "knDds/DdsTypedSupplier.h"
 
#include "rapidDds/CommandConfig.h"
#include "rapidDds/CommandConfigSupport.h"
#include "rapidDds/RapidConstants.h"
 
#include "rapidUtil/RapidHelper.h"
 
#include "dds_msgs/AstrobeeCommandConstants.h"
 
namespace ff {
 
class RosCommandConfigRapidCommandConfig : public RapidPub {
 public:
  explicit RosCommandConfigRapidCommandConfig(const std::string& pub_topic,
                                  const ros::NodeHandle &nh,
                                  config_reader::ConfigReader& config_params);
 
 protected:
  bool AssembleConfig(rapid::CommandConfig& config,
                     config_reader::ConfigReader& config_params);
 
  kn::DdsTypedSupplier<rapid::CommandConfig> command_config_supplier_;
};
 
}  // end namespace ff
 
#endif  // DDS_ROS_BRIDGE_ROS_COMMAND_CONFIG_RAPID_COMMAND_CONFIG_H_