Program Listing for File planner_switcher.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 <rclcpp/rclcpp.hpp>
#include <smacc2/client_bases/smacc_action_client.hpp>
#include <smacc2/component.hpp>
#include <std_msgs/msg/string.hpp>
namespace cl_nav2z
{
// this component is used to switch the current planner and controller interacting
// with the remote navigation2 stack nodes (bt_navigator, planner_server, controller_server)
class PlannerSwitcher : public smacc2::ISmaccComponent
{
public:
PlannerSwitcher();
void onInitialize() override;
void setDesiredGlobalPlanner(std::string);
void setDesiredController(std::string);
void commitPublish();
// STANDARD PLANNERS
void setBackwardPlanner(bool commit = true);
void setUndoPathBackwardPlanner(bool commit = true);
void setForwardPlanner(bool commit = true);
void setPureSpinningPlanner(bool commit = true);
// sets ROS defaults local and global planners
void setDefaultPlanners(bool commit = true);
private:
std::string desired_planner_;
std::string desired_controller_;
bool set_planners_mode_flag_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr planner_selector_pub_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr controller_selector_pub_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr goal_checker_selector_pub_;
};
} // namespace cl_nav2z