Class TeleportDispenserCommon

Defined in File dispenser_common.hpp

Class Documentation

class TeleportDispenserCommon

Public Types

using FleetState = rmf_fleet_msgs::msg::FleetState

using FleetStateIt = std::unordered_map<std::string, FleetState::UniquePtr>::iterator

using DispenserState = rmf_dispenser_msgs::msg::DispenserState

using DispenserRequest = rmf_dispenser_msgs::msg::DispenserRequest

using DispenserResult = rmf_dispenser_msgs::msg::DispenserResult

Public Functions

void send_dispenser_response(uint8_t status) const

void fleet_state_cb(FleetState::UniquePtr msg)

void dispenser_request_cb(DispenserRequest::UniquePtr msg)

void on_update(std::function<void(FleetStateIt, std::vector<rmf_plugins_utils::SimEntity>&)> fill_robot_list_cb, std::function<rmf_plugins_utils::SimEntity(const std::vector<rmf_plugins_utils::SimEntity>&, bool&)> find_nearest_model_cb, std::function<void(const rmf_plugins_utils::SimEntity&)> place_on_entity_cb, std::function<bool(void)> check_filled_cb)

void init_ros_node(const rclcpp::Node::SharedPtr node)

Public Members

bool dispense = false

DispenserRequest latest

std::string guid

double last_pub_time = 0.0

double sim_time = 0.0

bool item_en_found = false

bool dispenser_filled = false

rclcpp::Node::SharedPtr ros_node

std::unordered_map<std::string, FleetState::UniquePtr> fleet_states

DispenserState current_state