void initialize(UAS &uas,
			ros::NodeHandle &nh,
			diagnostic_updater::Updater &diag_updater)
	{
		diag_updater.add(tdr_diag);
		status_pub = nh.advertise<mavros::RadioStatus>("radio_status", 10);
	}

	void initialize(UAS &uas,
			ros::NodeHandle &nh,
			diagnostic_updater::Updater &diag_updater)
	{
		nh.param<std::string>("gps/frame_id", frame_id, "gps");
		nh.param<std::string>("gps/time_ref_source", time_ref_source, frame_id);

		diag_updater.add(gps_diag);

		fix_pub = nh.advertise<sensor_msgs::NavSatFix>("fix", 10);
		time_ref_pub = nh.advertise<sensor_msgs::TimeReference>("time_reference", 10);
		vel_pub = nh.advertise<geometry_msgs::TwistStamped>("gps_vel", 10);
	}

	GenericDiagnostic(std::string diagnosticName):nh() {
		_updater.add(diagnosticName,this, &GenericDiagnostic::nodeDiagnostics);
		_timer = nh.createTimer(ros::Duration(4),&GenericDiagnostic::diagnosticTimerCallback,this);
		_updater.setHardwareID("none");
		
		
	};

  void CrioReceiver::setupDiagnostics() {
    updater_.setHardwareID("CRIO-192.168.0.100");	

    updater_.add("Encoders", this, &CrioReceiver::checkEncoderTicks);
    updater_.add("Yaw Sensor", this, &CrioReceiver::checkYawSensor);
    updater_.add("Voltages", this, &CrioReceiver::checkVoltageLevels);
  }

		/*!
		* \brief Constructor for SdhNode class
		*
		* \param name Name for the actionlib server
		*/
		SdhNode(std::string name):
			as_(nh_, name, boost::bind(&SdhNode::executeCB, this, _1),true),
			action_name_(name)
		{
			pi_ = 3.1415926;
			// diagnostics
			updater_.setHardwareID(ros::this_node::getName());
			updater_.add("initialization", this, &SdhNode::diag_init);

		}

  void grabThread()
  {
    ros::Duration d(1.0 / 240.0);
//    ros::Time last_time = ros::Time::now();
//    double fps = 100.;
//    ros::Duration diff;
//    std::stringstream time_log;
    while (ros::ok() && grab_frames_)
    {
      while (msvcbridge::GetFrame().Result != Result::Success && ros::ok())
      {
        ROS_INFO("getFrame returned false");
        d.sleep();
      }
      now_time = ros::Time::now();
//      diff = now_time-last_time;
//      fps = 1.0/(0.9/fps + 0.1*diff.toSec());
//      time_log.clear();
//      time_log.str("");
//      time_log <<"timings: dt="<<diff<<" fps=" <<fps;
//      time_log_.push_back(time_log.str());
//      last_time = now_time;

      bool was_new_frame = process_frame();
      ROS_WARN_COND(!was_new_frame, "grab frame returned false");

      diag_updater.update();
    }
  }

bool spin()
{
    ROS_INFO("summit_robot_control::spin()");
    ros::Rate r(desired_freq_);  // 50.0 

    while (!ros::isShuttingDown()) // Using ros::isShuttingDown to avoid restarting the node during a shutdown.
    {
      if (starting() == 0)
      {
	    while(ros::ok() && node_handle_.ok()) {
          UpdateControl();
          UpdateOdometry();
          PublishOdometry();
          diagnostic_.update();
          ros::spinOnce();
	      r.sleep();
          }
	      ROS_INFO("END OF ros::ok() !!!");
      } else {
       // No need for diagnostic here since a broadcast occurs in start
       // when there is an error.
       usleep(1000000);
       ros::spinOnce();
      }
   }

   return true;
}

  void initialize(const ros::WallTimerEvent &ignored)
  {
    sub_.setTimeout(ros::Duration(1.0));
    sub_ = swri::Subscriber(nh_, "odom", 100,
                            &SubscriberTest::handleMessage,
                            this);

    diagnostic_updater_.setHardwareID("none");
    diagnostic_updater_.add(
      "swri::Subscriber test (manual diagnostics)", this,
      &SubscriberTest::manualDiagnostics);

    diagnostic_updater_.add(
      "swri::Subscriber test (auto diagnostics)", this,
      &SubscriberTest::autoDiagnostics);
    
    diag_timer_ = nh_.createTimer(ros::Duration(1.0),
                                  &SubscriberTest::handleDiagnosticsTimer,
                                  this);
  }

  ViconReceiver() :
    nh_priv("~"), diag_updater(), min_freq(0.1), max_freq(1000),
        freq_status(diagnostic_updater::FrequencyStatusParam(&min_freq, &max_freq)), StreamMode("ClientPullPreFetch"),
        HostName(""), SubjectName(""), SegmentName(""), tf_ref_frame_id("/enu"),
        tf_tracked_frame_id("/pelican1/flyer_vicon"), update_rate(100), vicon_capture_rate(50),
        max_period_between_updates(0), max_abs_jitter(0), lastFrameNumber(0), frameCount(0), droppedFrameCount(0),
        frame_datum(0), latest_time_bias(0), time_bias_reset_count(0), n_markers(0), n_unlabeled_markers(0),
        time_bias_reset(0.05), segment_data_enabled(false), marker_data_enabled(false),
        unlabeled_marker_data_enabled(false), enable_tf_broadcast(false)

  {
    // Diagnostics
    diag_updater.add("ViconReceiver Status", this, &ViconReceiver::diagnostics);
    diag_updater.add(freq_status);
    diag_updater.setHardwareID("none");
    diag_updater.force_update();
    // Parameters
    nh_priv.param("stream_mode", StreamMode, StreamMode);
    nh_priv.param("datastream_hostport", HostName, HostName);
    nh_priv.param("subject_name", SubjectName, SubjectName);
    nh_priv.param("segment_name", SegmentName, SegmentName);
    nh_priv.param("update_rate", update_rate, update_rate);
    nh_priv.param("vicon_capture_rate", vicon_capture_rate, vicon_capture_rate);
    nh_priv.param("tf_ref_frame_id", tf_ref_frame_id, tf_ref_frame_id);
    nh_priv.param("tf_tracked_frame_id", tf_tracked_frame_id, tf_tracked_frame_id);
    nh_priv.param("time_bias_reset", time_bias_reset, time_bias_reset);
    nh_priv.param("enable_tf_broadcast", enable_tf_broadcast, enable_tf_broadcast);
    ROS_ASSERT(init_vicon());
    // Service Server
    ROS_INFO("setting up grab_vicon_pose service server ... ");
    m_grab_vicon_pose_service_server = nh_priv.advertiseService("grab_vicon_pose",
                                                                &ViconReceiver::grab_vicon_pose_callback, this);
    // Publishers
    pose_pub = nh_priv.advertise<geometry_msgs::TransformStamped> ("output", 10);
    markers_pub = nh_priv.advertise<vicon_mocap::Markers> ("markers", 10);
    // Timer
    double update_timer_period = 1 / update_rate;
    min_freq = 0.95 * vicon_capture_rate;
    max_freq = 1.05 * vicon_capture_rate;
    updateTimer = nh.createTimer(ros::Duration(update_timer_period), &ViconReceiver::updateCallback, this);
  }

  ViconReceiver() :
    nh_priv("~"), diag_updater(), min_freq_(0.1), max_freq_(1000),
        freq_status_(diagnostic_updater::FrequencyStatusParam(&min_freq_, &max_freq_)), stream_mode_("ClientPull"),
        host_name_(""), tf_ref_frame_id_("/world"), tracked_frame_suffix_("vicon"), broadcast_tf_(true),
        lastFrameNumber(0), frameCount(0), droppedFrameCount(0), frame_datum(0), n_markers(0), n_unlabeled_markers(0),
        marker_data_enabled(false), unlabeled_marker_data_enabled(false), grab_frames_(false)

  {
    // Diagnostics
    diag_updater.add("ViconReceiver Status", this, &ViconReceiver::diagnostics);
    diag_updater.add(freq_status_);
    diag_updater.setHardwareID("none");
    diag_updater.force_update();
    // Parameters
    nh_priv.param("stream_mode", stream_mode_, stream_mode_);
    nh_priv.param("datastream_hostport", host_name_, host_name_);
    nh_priv.param("tf_ref_frame_id", tf_ref_frame_id_, tf_ref_frame_id_);
    nh_priv.param("broadcast_tf", broadcast_tf_, broadcast_tf_);
    ROS_ASSERT(init_vicon());
    // Service Server
    ROS_INFO("setting up grab_vicon_pose service server ... ");
    m_grab_vicon_pose_service_server = nh_priv.advertiseService("grab_vicon_pose", &ViconReceiver::grabPoseCallback,
                                                                this);

    ROS_INFO("setting up segment calibration service server ... ");
    calibrate_segment_server_ = nh_priv.advertiseService("calibrate_segment", &ViconReceiver::calibrateSegmentCallback,
                                                         this);

    // Publishers
    marker_pub_ = nh.advertise<vicon_bridge::Markers> (tracked_frame_suffix_ + "/markers", 10);

    if (broadcast_tf_)
      tf_broadcaster_ = new tf::TransformBroadcaster();

    startGrabbing();
  }

  void updateCallback(const ros::TimerEvent& e)
  {
    static bool got_first = false;
    latest_dt = (e.current_real - e.last_real).toSec();
    latest_jitter = (e.current_real - e.current_expected).toSec();
    max_abs_jitter = max(max_abs_jitter, fabs(latest_jitter));
    Result::Enum the_result;
    bool was_new_frame = true;

    if ((not segment_data_enabled) //
        and (pose_pub.getNumSubscribers() > 0 or markers_pub.getNumSubscribers() > 0))
    {
      the_result = MyClient.EnableSegmentData().Result;
      if (the_result != Result::Success)
      {
        ROS_ERROR("Enable segment data call failed");
      }
      else
      {
        ROS_ASSERT(MyClient.IsSegmentDataEnabled().Enabled);
        ROS_INFO("Segment data enabled");
        segment_data_enabled = true;
      }
    }

    if (segment_data_enabled)
    {
      while (was_new_frame and (the_result = MyClient.GetFrame().Result) == Result::Success)
        ;
      {
        now_time = ros::Time::now(); // try to grab as close to getting message as possible
        was_new_frame = process_frame();
        got_first = true;
      }

      if (the_result != Result::NoFrame)
      {
        ROS_ERROR_STREAM("GetFrame() returned " << (int)the_result);
      }

      if (got_first)
      {
        max_period_between_updates = max(max_period_between_updates, latest_dt);
        last_callback_duration = e.profile.last_duration.toSec();
      }
    }
    diag_updater.update();
  }

  void freqStatus(diagnostic_updater::DiagnosticStatusWrapper& status)
  {
    double freq = (double)(count_)/diagnostic_.getPeriod();

    if (freq < (.9*desired_freq_))
    {
      status.summary(2, "Desired frequency not met");
    }
    else
    {
      status.summary(0, "Desired frequency met");
    }

    status.add("Images in interval", count_);
    status.add("Desired frequency", desired_freq_);
    status.add("Actual frequency", freq);

    count_ = 0;
  }

  ///\brief Opens joystick port, reads from port and publishes while node is active
  int main(int argc, char **argv)
  {
    diagnostic_.add("Joystick Driver Status", this, &Joystick::diagnostics);
    diagnostic_.setHardwareID("none");

    // Parameters
    ros::NodeHandle nh_param("~");
    pub_ = nh_.advertise<fmMsgs::Joy>("joy", 1);
    nh_param.param<std::string>("dev", joy_dev_, "/dev/input/js0");
    nh_param.param<double>("deadzone", deadzone_, 0.05);
    nh_param.param<double>("autorepeat_rate", autorepeat_rate_, 0);
    nh_param.param<double>("coalesce_interval", coalesce_interval_, 0.001);
    
    // Checks on parameters
    if (autorepeat_rate_ > 1 / coalesce_interval_)
      ROS_WARN("joy_node: autorepeat_rate (%f Hz) > 1/coalesce_interval (%f Hz) does not make sense. Timing behavior is not well defined.", autorepeat_rate_, 1/coalesce_interval_);
    
    if (deadzone_ >= 1)
    {
      ROS_WARN("joy_node: deadzone greater than 1 was requested. The semantics of deadzone have changed. It is now related to the range [-1:1] instead of [-32767:32767]. For now I am dividing your deadzone by 32767, but this behavior is deprecated so you need to update your launch file.");
      deadzone_ /= 32767;
    }
    
    if (deadzone_ > 0.9)
    {
      ROS_WARN("joy_node: deadzone (%f) greater than 0.9, setting it to 0.9", deadzone_);
      deadzone_ = 0.9;
    }
    
    if (deadzone_ < 0)
    {
      ROS_WARN("joy_node: deadzone_ (%f) less than 0, setting to 0.", deadzone_);
      deadzone_ = 0;
    }

    if (autorepeat_rate_ < 0)
    {
      ROS_WARN("joy_node: autorepeat_rate (%f) less than 0, setting to 0.", autorepeat_rate_);
      autorepeat_rate_ = 0;
    }
    
    if (coalesce_interval_ < 0)
    {
      ROS_WARN("joy_node: coalesce_interval (%f) less than 0, setting to 0.", coalesce_interval_);
      coalesce_interval_ = 0;
    }
    
    // Parameter conversions
    double autorepeat_interval = 1 / autorepeat_rate_;
    double scale = -1. / (1. - deadzone_) / 32767.;
    double unscaled_deadzone = 32767. * deadzone_;

    js_event event;
    struct timeval tv;
    fd_set set;
    int joy_fd;
    event_count_ = 0;
    pub_count_ = 0;
    lastDiagTime_ = ros::Time::now().toSec();
    
    // Big while loop opens, publishes
    while (nh_.ok())
    {                                      
      open_ = false;
      diagnostic_.force_update();
      bool first_fault = true;
      while (true)
      {
        ros::spinOnce();
        if (!nh_.ok())
          goto cleanup;
        joy_fd = open(joy_dev_.c_str(), O_RDONLY);
        if (joy_fd != -1)
        {
          // There seems to be a bug in the driver or something where the
          // initial events that are to define the initial state of the
          // joystick are not the values of the joystick when it was opened
          // but rather the values of the joystick when it was last closed.
          // Opening then closing and opening again is a hack to get more
          // accurate initial state data.
          close(joy_fd);
          joy_fd = open(joy_dev_.c_str(), O_RDONLY);
        }
        if (joy_fd != -1)
          break;
        if (first_fault)
        {
          ROS_ERROR("Couldn't open joystick %s. Will retry every second.", joy_dev_.c_str());
          first_fault = false;
        }
        sleep(1.0);
        diagnostic_.update();
      }
      
      ROS_INFO("Opened joystick: %s. deadzone_: %f.", joy_dev_.c_str(), deadzone_);
      open_ = true;
      diagnostic_.force_update();
      
      bool tv_set = false;
//.........这里部分代码省略.........

		/*!
		* \brief Constructor for PowercubeChainNode class.
		*
		* \param name Name for the actionlib server.
		*/
		PowercubeChainNode(std::string name):
			as_(n_, name, boost::bind(&PowercubeChainNode::executeCB, this, _1)),
			action_name_(name)
		{
			sem_can_available = false;
			can_sem = SEM_FAILED;

			isInitialized_ = false;
			traj_point_nr_ = 0;
			finished_ = false;

#ifndef SIMU
			PCube_ = new PowerCubeCtrl();
#else
			PCube_ = new simulatedArm();
#endif
			PCubeParams_ = new PowerCubeCtrlParams();

			// implementation of topics to publish
			topicPub_JointState_ = n_.advertise<sensor_msgs::JointState>("/joint_states", 1);
			topicPub_ControllerState_ = n_.advertise<pr2_controllers_msgs::JointTrajectoryControllerState>("state", 1);

			// implementation of topics to subscribe
			topicSub_DirectCommand_ = n_.subscribe("command", 1, &PowercubeChainNode::topicCallback_DirectCommand, this);

			// implementation of service servers
			srvServer_Init_ = n_.advertiseService("init", &PowercubeChainNode::srvCallback_Init, this);
			srvServer_Stop_ = n_.advertiseService("stop", &PowercubeChainNode::srvCallback_Stop, this);
			srvServer_Recover_ = n_.advertiseService("recover", &PowercubeChainNode::srvCallback_Recover, this);
			srvServer_SetOperationMode_ = n_.advertiseService("set_operation_mode", &PowercubeChainNode::srvCallback_SetOperationMode, this);

			// implementation of service clients
			//--

			// diagnostics
			updater_.setHardwareID(ros::this_node::getName());
			updater_.add("initialization", this, &PowercubeChainNode::diag_init);


			// read parameters from parameter server
			n_.getParam("CanModule", CanModule_);
			n_.getParam("CanDevice", CanDevice_);
			n_.getParam("CanBaudrate", CanBaudrate_);
			ROS_INFO("CanModule=%s, CanDevice=%d, CanBaudrate=%d",CanModule_.c_str(),CanDevice_,CanBaudrate_);

			// get ModIds from parameter server
			if (n_.hasParam("ModIds"))
			{
				n_.getParam("ModIds", ModIds_param_);
			}
			else
			{
				ROS_ERROR("Parameter ModIds not set");
			}
			ModIds_.resize(ModIds_param_.size());
			for (int i = 0; i<ModIds_param_.size(); i++ )
			{
				ModIds_[i] = (int)ModIds_param_[i];
			}
			std::cout << "ModIds = " << ModIds_param_ << std::endl;
			
			// get JointNames from parameter server
			ROS_INFO("getting JointNames from parameter server");
			if (n_.hasParam("JointNames"))
			{
				n_.getParam("JointNames", JointNames_param_);
			}
			else
			{
				ROS_ERROR("Parameter JointNames not set");
			}
			JointNames_.resize(JointNames_param_.size());
			for (int i = 0; i<JointNames_param_.size(); i++ )
			{
				JointNames_[i] = (std::string)JointNames_param_[i];
			}
			std::cout << "JointNames = " << JointNames_param_ << std::endl;

			PCubeParams_->Init(CanModule_, CanDevice_, CanBaudrate_, ModIds_);
			
			// get MaxAcc from parameter server
			ROS_INFO("getting MaxAcc from parameter server");
			if (n_.hasParam("MaxAcc"))
			{
				n_.getParam("MaxAcc", MaxAcc_param_);
			}
			else
			{
				ROS_ERROR("Parameter MaxAcc not set");
			}
			MaxAcc_.resize(MaxAcc_param_.size());
			for (int i = 0; i<MaxAcc_param_.size(); i++ )
			{
				MaxAcc_[i] = (double)MaxAcc_param_[i];
			}
//.........这里部分代码省略.........

		/*!
		* \brief Routine for publishing joint_states.
		*
		* Gets current positions and velocities from the hardware and publishes them as joint_states.
		*/
		void publishJointState()
		{
		  updater_.update();
			if (isInitialized_ == true)
			{
				// publish joint state message
				int DOF = ModIds_param_.size();
				std::vector<double> ActualPos;
				std::vector<double> ActualVel;
				ActualPos.resize(DOF);
				ActualVel.resize(DOF);

				lock_semaphore(can_sem);
				int success = PCube_->getConfig(ActualPos);
				if (!success) return;
				PCube_->getJointVelocities(ActualVel);
				unlock_semaphore(can_sem);

				sensor_msgs::JointState msg;
				msg.header.stamp = ros::Time::now();
				msg.name.resize(DOF);
				msg.position.resize(DOF);
				msg.velocity.resize(DOF);

				msg.name = JointNames_;

				for (int i = 0; i<DOF; i++ )
				{
					msg.position[i] = ActualPos[i];
					msg.velocity[i] = ActualVel[i];
					//std::cout << "Joint " << msg.name[i] <<": pos="<<  msg.position[i] << "vel=" << msg.velocity[i] << std::endl;
				}

				topicPub_JointState_.publish(msg);

				// publish controller state message
				pr2_controllers_msgs::JointTrajectoryControllerState controllermsg;
				controllermsg.header.stamp = ros::Time::now();
				controllermsg.joint_names.resize(DOF);
				controllermsg.desired.positions.resize(DOF);
				controllermsg.desired.velocities.resize(DOF);
				controllermsg.actual.positions.resize(DOF);
				controllermsg.actual.velocities.resize(DOF);
				controllermsg.error.positions.resize(DOF);
				controllermsg.error.velocities.resize(DOF);

				controllermsg.joint_names = JointNames_;

				for (int i = 0; i<DOF; i++ )
				{
					//std::cout << "Joint " << msg.name[i] <<": pos="<<  msg.position[i] << "vel=" << msg.velocity[i] << std::endl;
					
					if (traj_point_.positions.size() != 0)
						controllermsg.desired.positions[i] = traj_point_.positions[i];
					else
						controllermsg.desired.positions[i] = 0.0;
					controllermsg.desired.velocities[i] = 0.0;
					
					controllermsg.actual.positions[i] = ActualPos[i];
					controllermsg.actual.velocities[i] = ActualVel[i];
					
					controllermsg.error.positions[i] = controllermsg.desired.positions[i] - controllermsg.actual.positions[i];
					controllermsg.error.velocities[i] = controllermsg.desired.velocities[i] - controllermsg.actual.velocities[i];
				}
				topicPub_ControllerState_.publish(controllermsg);

			}
		}

  void MCDriverNode::setupDiagnostics()
  {
    updater_.setHardwareID("Minicrusher 01");

    updater_.add("Status", this, &MCDriverNode::checkStatus);
  }

 void MCDriverNode::updateDiagnostics()
 {
   updater_.update();
 }

 void handleDiagnosticsTimer(const ros::TimerEvent &ignored)
 {
   diagnostic_updater_.update();
 }

    // Constructor
    NodeClass()
    {
        // initialization of variables
        is_initialized_bool_ = false;
        is_moving_ = false;
        iwatchdog_ = 0;
        last_time_ = ros::Time::now();
        sample_time_ = 0.020;
        x_rob_m_ = 0.0;
        y_rob_m_ = 0.0;
        theta_rob_rad_ = 0.0;
        vel_x_rob_last_ = 0.0;
        vel_y_rob_last_ = 0.0;
        vel_theta_rob_last_ = 0.0;
        // set status of drive chain to WARN by default
        drive_chain_diagnostic_ = diagnostic_status_lookup_.OK; //WARN; <- THATS FOR DEBUGGING ONLY!

        // Parameters are set within the launch file
        // Read number of drives from iniFile and pass IniDirectory to CobPlatfCtrl.
        if (n.hasParam("IniDirectory"))
        {
            n.getParam("IniDirectory", sIniDirectory);
            ROS_INFO("IniDirectory loaded from Parameter-Server is: %s", sIniDirectory.c_str());
        }
        else
        {
            sIniDirectory = "Platform/IniFiles/";
            ROS_WARN("IniDirectory not found on Parameter-Server, using default value: %s", sIniDirectory.c_str());
        }

        IniFile iniFile;
        iniFile.SetFileName(sIniDirectory + "Platform.ini", "PltfHardwareCoB3.h");
        iniFile.GetKeyInt("Config", "NumberOfMotors", &m_iNumJoints, true);

        ucar_ctrl_ = new UndercarriageCtrlGeom(sIniDirectory);


        // implementation of topics
        // published topics
        //topic_pub_joint_state_cmd_ = n.advertise<sensor_msgs::JointState>("joint_command", 1);
        topic_pub_controller_joint_command_ = n.advertise<pr2_controllers_msgs::JointTrajectoryControllerState> ("joint_command", 1);

        topic_pub_odometry_ = n.advertise<nav_msgs::Odometry>("odometry", 1);

        // subscribed topics
        topic_sub_CMD_pltf_twist_ = n.subscribe("command", 1, &NodeClass::topicCallbackTwistCmd, this);
        topic_sub_EM_stop_state_ = n.subscribe("/emergency_stop_state", 1, &NodeClass::topicCallbackEMStop, this);
        topic_sub_drive_diagnostic_ = n.subscribe("diagnostic", 1, &NodeClass::topicCallbackDiagnostic, this);



        //topic_sub_joint_states_ = n.subscribe("/joint_states", 1, &NodeClass::topicCallbackJointStates, this);
        topic_sub_joint_controller_states_ = n.subscribe("state", 1, &NodeClass::topicCallbackJointControllerStates, this);

        // diagnostics
        updater_.setHardwareID(ros::this_node::getName());
        updater_.add("initialization", this, &NodeClass::diag_init);

        // implementation of service servers
        srvServer_IsMoving = n.advertiseService("is_moving", &NodeClass::srvCallback_IsMoving, this);

        // implementation of service clients
        srv_client_get_joint_state_ = n.serviceClient<cob_base_drive_chain::GetJointState>("GetJointState");

        //set up timer to cyclically call controller-step
        timer_ctrl_step_ = n.createTimer(ros::Duration(sample_time_), &NodeClass::timerCallbackCtrlStep, this);

    }

/*!	\fn SummitControllerClass::SummitControllerClass()
 * 	\brief Public constructor
*/
SummitControllerClass(ros::NodeHandle h) : diagnostic_(),
  node_handle_(h), private_node_handle_("~"), 
  desired_freq_(100),
  freq_diag_(diagnostic_updater::FrequencyStatusParam(&desired_freq_, &desired_freq_, 0.05)   ),
  command_freq_("Command frequency check", boost::bind(&SummitControllerClass::check_command_subscriber, this, _1))
  {

  ROS_INFO("summit_robot_control_node - Init ");

  // 
  kinematic_modes_ = 1;  
  
  ros::NodeHandle summit_robot_control_node_handle(node_handle_, "summit_robot_control");

  // Get robot model from the parameters
  if (!private_node_handle_.getParam("model", robot_model_)) {
	  ROS_ERROR("Robot model not defined.");
	  exit(-1);
	  }
  else ROS_INFO("Robot Model : %s", robot_model_.c_str());

  // Ackermann configuration - traction - topics
  private_node_handle_.param<std::string>("frw_vel_topic", frw_vel_topic_, "/summit/joint_frw_velocity_controller/command");
  private_node_handle_.param<std::string>("flw_vel_topic", flw_vel_topic_, "/summit/joint_flw_velocity_controller/command");
  private_node_handle_.param<std::string>("blw_vel_topic", blw_vel_topic_, "/summit/joint_blw_velocity_controller/command");
  private_node_handle_.param<std::string>("brw_vel_topic", brw_vel_topic_, "/summit/joint_brw_velocity_controller/command");

  // Ackermann configuration - traction - joint names 
  private_node_handle_.param<std::string>("joint_front_right_wheel", joint_front_right_wheel, "joint_front_right_wheel");
  private_node_handle_.param<std::string>("joint_front_left_wheel", joint_front_left_wheel, "joint_front_left_wheel");
  private_node_handle_.param<std::string>("joint_back_left_wheel", joint_back_left_wheel, "joint_back_left_wheel");
  private_node_handle_.param<std::string>("joint_back_right_wheel", joint_back_right_wheel, "joint_back_right_wheel");

  // Ackermann configuration - direction - topics
  private_node_handle_.param<std::string>("frw_pos_topic", frw_pos_topic_, "/summit/joint_frw_position_controller/command");
  private_node_handle_.param<std::string>("flw_pos_topic", flw_pos_topic_, "/summit/joint_flw_position_controller/command");
  private_node_handle_.param<std::string>("blw_pos_topic", blw_pos_topic_, "/summit/joint_blw_position_controller/command");
  private_node_handle_.param<std::string>("brw_pos_topic", brw_pos_topic_, "/summit/joint_brw_position_controller/command");

  private_node_handle_.param<std::string>("joint_front_right_steer", joint_front_right_steer, "joint_front_right_wheel_dir"); 
  private_node_handle_.param<std::string>("joint_front_left_steer", joint_front_left_steer, "joint_front_left_wheel_dir");
  private_node_handle_.param<std::string>("joint_back_left_steer", joint_back_left_steer, "joint_back_left_wheel_dir");
  private_node_handle_.param<std::string>("joint_back_right_steer", joint_back_right_steer, "joint_back_right_wheel_dir");

  // PTZ topics
  private_node_handle_.param<std::string>("pan_pos_topic", pan_pos_topic_, "/summit/joint_pan_position_controller/command");
  private_node_handle_.param<std::string>("tilt_pos_topic", tilt_pos_topic_, "/summit/joint_tilt_position_controller/command");
  private_node_handle_.param<std::string>("joint_camera_pan", joint_camera_pan, "joint_camera_pan");
  private_node_handle_.param<std::string>("joint_camera_tilt", joint_camera_tilt, "joint_camera_tilt");

  // Robot parameters
  if (!private_node_handle_.getParam("summit_d_wheels", summit_d_wheels_))
        summit_d_wheels_ = SUMMIT_D_WHEELS_M;
  if (!private_node_handle_.getParam("summit_wheel_diameter", summit_wheel_diameter_))
    summit_wheel_diameter_ = SUMMIT_WHEEL_DIAMETER;
  ROS_INFO("summit_d_wheels_ = %5.2f", summit_d_wheels_);
  ROS_INFO("summit_wheel_diameter_ = %5.2f", summit_wheel_diameter_);

  private_node_handle_.param("publish_odom_tf", publish_odom_tf_, true);
  if (publish_odom_tf_) ROS_INFO("PUBLISHING odom->base_footprint tf");
  else ROS_INFO("NOT PUBLISHING odom->base_footprint tf");
  
  // Robot Speeds
  linearSpeedXMps_   = 0.0;
  linearSpeedYMps_   = 0.0;
  angularSpeedRads_  = 0.0;

  // Robot Positions
  robot_pose_px_ = 0.0;
  robot_pose_py_ = 0.0;
  robot_pose_pa_ = 0.0;
  robot_pose_vx_ = 0.0;
  robot_pose_vy_ = 0.0;
  
  // Robot state space control references
  v_ref_ = 0.0;
  alfa_ref_ = 0.0;
  pos_ref_pan_ = 0.0;
  pos_ref_tilt_= 0.0;

  // Imu variables
  ang_vel_x_ = 0.0; ang_vel_y_ = 0.0; ang_vel_z_ = 0.0;
  lin_acc_x_ = 0.0; lin_acc_y_ = 0.0; lin_acc_z_ = 0.0;
  orientation_x_ = 0.0; orientation_y_ = 0.0; orientation_z_ = 0.0; orientation_w_ = 0.0;

  // Default active kinematic mode
  active_kinematic_mode_ = SINGLE_ACKERMANN;

  // Advertise controller services
  srv_SetMode_ = summit_robot_control_node_handle.advertiseService("set_mode", &SummitControllerClass::srvCallback_SetMode, this);
  srv_GetMode_ = summit_robot_control_node_handle.advertiseService("get_mode", &SummitControllerClass::srvCallback_GetMode, this);
  srv_SetOdometry_ = summit_robot_control_node_handle.advertiseService("set_odometry",  &SummitControllerClass::srvCallback_SetOdometry, this);

  // Subscribe to joint states topic
  joint_state_sub_ = summit_robot_control_node_handle.subscribe<sensor_msgs::JointState>("/summit/joint_states", 1, &SummitControllerClass::jointStateCallback, this);

  // Subscribe to imu data
//.........这里部分代码省略.........