Program Listing for File or_navigation.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <nav2z_client/nav2z_client.hpp>
#include <smacc2/smacc_orthogonal.hpp>
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <nav2z_client/components/goal_checker_switcher/cp_goal_checker_switcher.hpp>
#include <nav2z_client/components/odom_tracker/cp_odom_tracker.hpp>
#include <nav2z_client/components/pose/cp_pose.hpp>
#include <nav2z_client/components/slam_toolbox/cp_slam_toolbox.hpp>
#include <nav2z_client/components/waypoints_navigator/cp_waypoints_navigator.hpp>
namespace sm_dancebot_artgallery_ue
{
using namespace cl_nav2z;
using namespace std::chrono_literals;
class OrNavigation : public smacc2::Orthogonal<OrNavigation>
{
public:
void onInitialize() override
{
auto nav2zClient = this->createClient<ClNav2Z>();
// create pose component
nav2zClient->createComponent<cl_nav2z::Pose>();
// create planner switcher
nav2zClient->createComponent<CpPlannerSwitcher>();
// create goal checker switcher
nav2zClient->createComponent<cl_nav2z::CpGoalCheckerSwitcher>();
// create odom tracker
nav2zClient->createComponent<cl_nav2z::odom_tracker::CpOdomTracker>();
// create odom tracker
nav2zClient->createComponent<cl_nav2z::CpSlamToolbox>();
// create waypoints navigator component
auto waypointsNavigator = nav2zClient->createComponent<CpWaypointNavigator>();
// nav2zClient->createComponent<sm_dancebot_artgallery_ue::CpUEPose>("/ue_ros/map_origin_entity_state");
/*auto waypointsNavigator = */
// nav2zClient->createComponent<::cl_nav2z::CpWaypointNavigatorBase>();
}
};
} // namespace sm_dancebot_artgallery_ue