/// <summary>
/// Initialize the jogging client
/// </summary>
public void Initialize()
{
publisherJoggingCommand = nodeHandle.Advertise <trajectory_msgs.JointTrajectory>(TOPIC_JOGGING_COMMAND, 5, false);
publisherSetpointJoggingCommand = nodeHandle.Advertise <Messages.geometry_msgs.PoseStamped>(TOPIC_SETPOINT_JOGGING_COMMAND, 5, false);
publisherTwistJoggingCommand = nodeHandle.Advertise <Messages.geometry_msgs.TwistStamped>(TOPIC_TWIST_JOGGING_COMMAND, 5, false);
toggleTracking = nodeHandle.ServiceClient <std_srvs.SetBool>(SERVICE_TOGGLE_TRACKING);
getMovegroupName = nodeHandle.ServiceClient <xamlamoveit.GetSelected>(SERVICE_GET_MOVEGROUP_NAME);
setMovegroupName = nodeHandle.ServiceClient <xamlamoveit.SetString>(SERVICE_SET_MOVEGROUP_NAME);
getEndeffectorName = nodeHandle.ServiceClient <xamlamoveit.GetSelected>(SERVICE_GET_ENDEFFECTOR_NAME);
setEndeffectorName = nodeHandle.ServiceClient <xamlamoveit.SetString>(SERVICE_SET_ENDEFFECTOR_NAME);
status = nodeHandle.ServiceClient <xamlamoveit.StatusController>(SERVICE_STATUS, true);
getVelocityScaling = nodeHandle.ServiceClient <xamlamoveit.GetFloat>(SERVICE_GET_VELOCITY_SCALING, true);
setVelocityScaling = nodeHandle.ServiceClient <xamlamoveit.SetFloat>(SERVICE_SET_VELOCITY_SCALING, true);
getFlag = nodeHandle.ServiceClient <xamlamoveit.GetFlag>(SERVICE_GET_FLAG, true);
setFlag = nodeHandle.ServiceClient <xamlamoveit.SetFlag>(SERVICE_SET_FLAG, true);
joggingFeedback = nodeHandle.Subscribe <xamlamoveit.ControllerState>(TOPIC_JOGGING_FEEDBACK, 1, HandleJoggingFeedback, false);
}
/// <summary>
/// Creates a instance of <c>RosRoboChatActionClient</c>
/// </summary>
/// <param name="nodeHandle">A node handle</param>
public RosRoboChatActionClient(NodeHandle nodeHandle)
{
channelCommandService = nodeHandle.ServiceClient <rosgardener.SetChannelCommand>(ROBOCHAT_CHANNEL_SERVICE_NAME);
messageCommandService = nodeHandle.ServiceClient <rosgardener.SetMessageCommand>(ROBOCHAT_MESSAGE_SERVICE_NAME);
rosRoboChatActionClient = new ActionClient <rosgardener.RobochatQueryGoal, rosgardener.RobochatQueryResult, rosgardener.RobochatQueryFeedback>(ROBOCHAT_ACTION_NAME, nodeHandle);
}
