Class DriveArcBehavior

Defined in File drive_goal_behaviors.hpp

Inheritance Relationships

Base Type

public irobot_create_nodes::DriveGoalBaseBehavior< irobot_create_msgs::action::DriveArc > (Template Class DriveGoalBaseBehavior)

Class Documentation

class DriveArcBehavior : public irobot_create_nodes::DriveGoalBaseBehavior<irobot_create_msgs::action::DriveArc>

This class manages the DriveArc action server.

Public Functions

DriveArcBehavior(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface, rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface, std::shared_ptr<BehaviorsScheduler> behavior_scheduler, float servo_speed, const std::string &server_name)

void initialize_goal(const irobot_create_msgs::action::DriveArc::Goal &goal) override

virtual bool iterate_on_goal(const tf2::Transform &current_pose, BehaviorsScheduler::optional_output_t &output) override

virtual std::shared_ptr<irobot_create_msgs::action::DriveArc::Feedback> get_feedback(const rclcpp::Duration &time_since_feedback) override