text: /*********************************************************************
   * Software License Agreement (BSD License)
   *
   *  Copyright (c) 2020, PickNik LLC
   *  All rights reserved.
   *
   *  Redistribution and use in source and binary forms, with or without
   *  modification, are permitted provided that the following conditions
   *  are met:
   *
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   * Neither the name of PickNik LLC nor the names of its
   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
   *
   *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *  POSSIBILITY OF SUCH DAMAGE.
   *********************************************************************/
  
  /*      Title     : servo_server.h
   *      Project   : moveit_servo
   *      Created   : 07/13/2020
   *      Author    : Adam Pettinger
   */
  
  #pragma once
  
  #include <moveit_servo/servo.h>
  
  namespace moveit_servo
  {
  class ServoServer : public rclcpp::Node
  {
  public:
    ServoServer(const rclcpp::NodeOptions& options);
  
  private:
    bool init();
  
    rclcpp::TimerBase::SharedPtr initialization_timer_;
  
    std::unique_ptr<moveit_servo::Servo> servo_;
    std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
    std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> planning_scene_monitor_;
  
    /** \brief Start the servo */
    void startCB(const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
                 std::shared_ptr<std_srvs::srv::Trigger::Response> response);
    rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr start_servo_service_;
  
    /** \brief Stop the servo */
    void stopCB(const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
                std::shared_ptr<std_srvs::srv::Trigger::Response> response);
    rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr stop_servo_service_;
  
    /** \brief Pause servo */
    void pauseCB(const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
                 std::shared_ptr<std_srvs::srv::Trigger::Response> response);
    rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr pause_servo_service_;
  
    /** \brief Unpause servo */
    void unpauseCB(const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
                   std::shared_ptr<std_srvs::srv::Trigger::Response> response);
    rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr unpause_servo_service_;
  
    bool is_initialized_;
  };
  }  // namespace moveit_servo
  