We will get the header file my_controller_file.h from the chapter_6_codes/my_controller_pkg/include/my_controller_pkg folder.

Given in the following is the header file definition of my_controller_file.h. We have discussed each line of this code while discussing pr2_controller_interface:

#include <pr2_controller_interface/controller.h>
#include <pr2_mechanism_model/joint.h>


namespace my_controller_ns{


//Inheriting Controller class inside pr2_controller_interface
class MyControllerClass: public pr2_controller_interface::Controller
{
private:
  pr2_mechanism_model::JointState* joint_state_;
  double init_pos_;


public:


  virtual bool init(pr2_mechanism_model::RobotState *robot,
                   ros::NodeHandle &n);
  virtual void starting();
  virtual void update();
  virtual void stopping();
};
}

In the preceding code, we can see the controller class MyControllerClass and we are inheriting the base class pr2_controller_interface::Controller. We can see that each function inside the Controller class is overriding in our class.