ping.cpp

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#include <ros/ros.h>
#include <rfnserver/rfnserver.h>
#include <std_msgs/String.h>
#include <roboframenet_msgs/FilledSemanticFrameAction.h>

class PingAction {
protected:
  rfnserver::RFNServer rs_;
  std::string action_name_;
  roboframenet_msgs::FilledSemanticFrameFeedback feedback_;
  roboframenet_msgs::FilledSemanticFrameResult result_;

public:
  PingAction(ros::NodeHandle nh, std::string name) :
    rs_(nh, name, boost::bind(&PingAction::executeCB, this, _1)),
    action_name_(name)
  {
    rs_.add_frame("../frames/pinging.yaml");
    rs_.add_lexical_unit("../lu/ping_pinging.yaml");
    rs_.register_with_frame("pinging");
    rs_.start();
  }

  ~PingAction(void) {}

  void executeCB(const roboframenet_msgs::FilledSemanticFrame &frame) {
    ROS_INFO("Ping!");
    result_.success = true;
    rs_.setSucceeded(result_);
  }
};

int main(int argc, char** argv) {
  ros::init(argc, argv, "ping_topic");
  ros::NodeHandle nh;
  PingAction ping(nh, ros::this_node::getName());
  ros::spin();

  return 0;
}