Class TeleportIngestorCommon

Defined in File ingestor_common.hpp

Class Documentation

class TeleportIngestorCommon

Public Types

using FleetState = rmf_fleet_msgs::msg::FleetState

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

using IngestorState = rmf_ingestor_msgs::msg::IngestorState

using IngestorRequest = rmf_ingestor_msgs::msg::IngestorRequest

using IngestorResult = rmf_ingestor_msgs::msg::IngestorResult

Public Functions

void send_ingestor_response(uint8_t status) const

void fleet_state_cb(FleetState::UniquePtr msg)

void ingestor_request_cb(IngestorRequest::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<bool(const SimEntity&)> get_payload_model_cb, std::function<void()> transport_model_cb, std::function<void(void)> send_ingested_item_home_cb)

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

Public Members

bool ingest = false

IngestorRequest latest

std::string _guid

bool ingestor_filled = false

double last_pub_time = 0.0

double last_ingested_time = 0.0

double sim_time = 0.0

rclcpp::Node::SharedPtr ros_node

std::unordered_map<std::string, Eigen::Isometry3d> non_static_models_init_poses

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

IngestorState current_state