get_map_client.cpp

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#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <robot_navigator/GetFirstMapAction.h>
#include <robot_navigator/SendCommand.h>
#include <tf/transform_datatypes.h>
#include <robot_navigator/commands.h>

typedef actionlib::SimpleActionClient<robot_navigator::GetFirstMapAction> GetMapClient;

GetMapClient* gGetMapClient;

bool receiveCommand(robot_navigator::SendCommand::Request &req, robot_navigator::SendCommand::Response &res)
{
        if(req.command == NAV_COM_GETMAP)
        {
                robot_navigator::GetFirstMapGoal goal;
                gGetMapClient->sendGoal(goal);
                return true;
        }
        return false;
}

int main(int argc, char **argv)
{
        ros::init(argc, argv, "GetFirstMap");
        ros::NodeHandle n;
        
        ros::ServiceServer cmdServer = n.advertiseService(NAV_GETMAP_SERVICE, &receiveCommand);
        gGetMapClient = new GetMapClient(NAV_GETMAP_ACTION, true);
        gGetMapClient->waitForServer();
        
        ros::spin();
        
        delete gGetMapClient;
        return 0;
}