Program Listing for File cb_wait_nav2_nodes.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 <tf2_ros/buffer.h>
#include <bond/msg/status.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
namespace cl_nav2z
{
enum class Nav2Nodes
{
PlannerServer,
ControllerServer,
RecoveriesServer,
BtNavigator,
MapServer,
None
};
std::string toString(Nav2Nodes value);
Nav2Nodes fromString(std::string str);
class CbWaitNav2Nodes : public smacc2::SmaccAsyncClientBehavior
{
public:
CbWaitNav2Nodes(
std::string topicname,
std::vector<Nav2Nodes> waitNodes = {
Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator});
CbWaitNav2Nodes(
std::vector<Nav2Nodes> waitNodes = {
Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator});
void onEntry() override;
private:
void onMessageReceived(const bond::msg::Status & msg);
std::string topicname_;
rclcpp::Subscription<bond::msg::Status>::SharedPtr sub_;
std::map<Nav2Nodes, bool> receivedAliveMsg_;
std::vector<Nav2Nodes> waitNodes_;
};
} // namespace cl_nav2z