text: /**
   * Copyright (C) 2016-2019 Salvatore Virga - salvo.virga@tum.de, Marco Esposito - marco.esposito@tum.de
   * Technische Universität München
   * Chair for Computer Aided Medical Procedures and Augmented Reality
   * Fakultät für Informatik / I16, Boltzmannstraße 3, 85748 Garching bei München, Germany
   * http://campar.in.tum.de
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
   * following conditions are met:
   *
   * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
   * disclaimer.
   *
   * 2. 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.
   *
   * 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 HOLDER 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.
   */
  
  #include "iiwa_ros/state/joint_velocity.hpp"
  
  namespace iiwa_ros {
  namespace state {
  
  void JointVelocity::init(const std::string& robot_namespace) {
    setup(robot_namespace);
    initROS("JointTorqueState");
    state_.init(ros_namespace_ + "state/JointVelocity");
  }
  
  void JointVelocity::init(const std::string& robot_namespace,
                           const std::function<void(const iiwa_msgs::JointVelocity&)> callback) {
    setup(robot_namespace);
    initROS("JointTorqueState");
    state_.init(ros_namespace_ + "state/JointVelocity", callback);
  }
  
  iiwa_msgs::JointVelocity JointVelocity::getVelocity() { return state_.get(); }
  
  }  // namespace state
  }  // namespace iiwa_ros
  