watch_scanner_stop.cpp

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#include <ros/ros.h>
#include <move_base_msgs/MoveBaseActionGoal.h>
#include <neo_msgs/EmergencyStopState.h>

class ScanStopNode
{
        public:
        ScanStopNode(){};
        virtual ~ScanStopNode(){};
        ros::NodeHandle n;
        ros::Publisher pub_navGoal;
        ros::Subscriber subs_navGoal;
        ros::Subscriber subs_errorStop;
        
        int init();
        void handleNavGoal(const move_base_msgs::MoveBaseActionGoal& cg);
        void handleErrorStop(const neo_msgs::EmergencyStopState& es);
        private:
        move_base_msgs::MoveBaseActionGoal currentGoal;
        bool hasError, hasGoal;
        
};

int ScanStopNode::init()
{
        hasError = false;
        hasGoal = false;
        pub_navGoal = n.advertise<move_base_msgs::MoveBaseActionGoal>("/move_base/goal", 1);
        subs_navGoal = n.subscribe("/move_base/goal", 1, &ScanStopNode::handleNavGoal, this);
        subs_errorStop = n.subscribe("/emergency_stop_state", 1, &ScanStopNode::handleErrorStop, this);
        return 0;
}

void ScanStopNode::handleNavGoal(const move_base_msgs::MoveBaseActionGoal& cg)
{
        currentGoal = cg;
        hasGoal = true;
}

void ScanStopNode::handleErrorStop(const neo_msgs::EmergencyStopState& es)
{
        if(es.scanner_stop)
        {
                if(hasGoal && !hasError)
                {
                        hasError = true;
                        move_base_msgs::MoveBaseActionGoal sendGoal;
                        sendGoal = currentGoal;
                        sendGoal.header.seq = currentGoal.header.seq+1;
                        sendGoal.goal.target_pose.header.seq = currentGoal.goal.target_pose.header.seq+1;
                        sendGoal.header.stamp = ros::Time::now();
                        sendGoal.goal.target_pose.header.stamp = sendGoal.header.stamp;
                        pub_navGoal.publish(sendGoal);
                }
        }
        else
        {
                hasError = false;
        }
        
}

int main (int argc, char **argv)
{
        ros::init(argc, argv, "scanner_stop_watcher");
        ScanStopNode node;
        node.init();
        ros::spin();
}