object_manipulator_node.cpp

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// Author(s): Matei Ciocarlie

#include "object_manipulator/object_manipulator.h"

#include <ros/ros.h>

#include <actionlib/server/simple_action_server.h>

#include <object_manipulation_msgs/PickupAction.h>
#include <object_manipulation_msgs/PlaceAction.h>

namespace object_manipulator {

static const std::string PICKUP_ACTION_NAME = "object_manipulator_pickup";
static const std::string PLACE_ACTION_NAME = "object_manipulator_place";

class ObjectManipulatorNode
{
private:
  ros::NodeHandle priv_nh_;  

  ObjectManipulator object_manipulator_;

  actionlib::SimpleActionServer<object_manipulation_msgs::PickupAction> pickup_action_server_;

  actionlib::SimpleActionServer<object_manipulation_msgs::PlaceAction> place_action_server_;

  void pickupCallback(const object_manipulation_msgs::PickupGoal::ConstPtr &goal)
  {
    object_manipulator_.pickup(goal, &pickup_action_server_);
  }

  void placeCallback(const object_manipulation_msgs::PlaceGoal::ConstPtr &goal)
  {
    object_manipulator_.place(goal, &place_action_server_);
  }

public:
  ObjectManipulatorNode() : priv_nh_("~"),
                            pickup_action_server_( priv_nh_, PICKUP_ACTION_NAME, 
                                                   boost::bind(&ObjectManipulatorNode::pickupCallback, this, _1),
                                                   false),
                            place_action_server_( priv_nh_, PLACE_ACTION_NAME, 
                                                  boost::bind(&ObjectManipulatorNode::placeCallback, this, _1),
                                                  false)
  {
    pickup_action_server_.start();
    place_action_server_.start();
  }
};

} //namespace

int main(int argc, char** argv)
{
  ros::init(argc, argv, "object_manipulator");
  object_manipulator::ObjectManipulatorNode node;
  ros::spin();
  return 0;
}