Program Listing for File or_obstacle_perception.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 <sm_dance_bot_warehouse_2/clients/cl_lidar/cl_lidar.hpp>
#include <sm_dance_bot_warehouse_2/clients/cl_lidar/components/cp_forward_obstacle_detector.hpp>
#include <smacc2/smacc_orthogonal.hpp>
namespace sm_dance_bot_warehouse_2
{
using sm_dance_bot_warehouse_2::cl_lidar::CpForwardObstacleDetector;
class OrObstaclePerception : public smacc2::Orthogonal<OrObstaclePerception>
{
public:
void onInitialize() override
{
auto lidarClient = this->createClient<ClLidarSensor>();
lidarClient->createComponent<CpForwardObstacleDetector>();
lidarClient->topicName = "/scan";
lidarClient->timeout_ = rclcpp::Duration(std::chrono::seconds(10));
}
};
} // namespace sm_dance_bot_warehouse_2