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Bug fix: JointTrajectoryAction (Rebased bug fix from Feb5) #86

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Bug fix: JointTrajectoryAction (Rebased bug fix from Feb5) #86

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7 changes: 7 additions & 0 deletions motoman_driver/include/motoman_driver/industrial_robot_client/joint_trajectory_action.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@

#include <ros/ros.h>
#include <actionlib/server/action_server.h>
#include <actionlib/client/simple_action_client.h>

#include <trajectory_msgs/JointTrajectory.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
Expand Down Expand Up @@ -77,6 +78,8 @@ class JointTrajectoryAction

private:
typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> JointTractoryActionServer;
typedef actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> JointTractoryActionClient;


/**
* \brief Internal ROS node handle
Expand Down Expand Up @@ -115,6 +118,8 @@ class JointTrajectoryAction
std::map<int, ros::Subscriber> sub_status_;

std::map<int, JointTractoryActionServer*> act_servers_;

std::map<int, JointTractoryActionClient*> act_clients_;
/**
* \brief Watchdog time used to fail the action request if the robot
* driver is not responding.
Expand Down Expand Up @@ -192,6 +197,8 @@ class JointTrajectoryAction
*/
static const double WATCHD0G_PERIOD_;// = 1.0;



/**
* \brief Watch dog callback, used to detect robot driver failures
*
Expand Down
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