plugs_client.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// author: Mario Prats

#ifndef PLUGS_CLIENT_H_
#define PLUGS_CLIENT_H_

#include <ros/ros.h>

#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>

#include <actionlib/client/simple_action_client.h>

#include <pr2_plugs_msgs/RechargeAction.h>
#include <pr2_plugs_msgs/RechargeGoal.h>

namespace pr2_wrappers {

class PlugsClient{
private:

  ros::NodeHandle nh_;

  ros::Duration timeout_;

  actionlib::SimpleActionClient<pr2_plugs_msgs::RechargeAction> plugs_action_client_;


public:
  PlugsClient(ros::NodeHandle &nh, const ros::Duration &timeout);

  ~PlugsClient();

  bool plug_unplug(bool plug, bool wait=false);

  void cancel() {
          plugs_action_client_.cancelAllGoals();
  }

};

}

#endif /* PLUGS_CLIENT_H_ */