Program Listing for File Ros2VacuumGripper.hpp
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// Copyright 1996-2023 Cyberbotics Ltd.
//
// 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.
#ifndef ROS2_VACUUM_GRIPPER_HPP
#define ROS2_VACUUM_GRIPPER_HPP
#include <webots_ros2_driver/WebotsNode.hpp>
#include <webots_ros2_driver/plugins/Ros2SensorPlugin.hpp>
#include <std_msgs/msg/bool.hpp>
#include <webots_ros2_msgs/msg/bool_stamped.hpp>
#include <webots_ros2_msgs/srv/get_bool.hpp>
namespace webots_ros2_driver {
class Ros2VacuumGripper : public Ros2SensorPlugin {
public:
void step() override;
void init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> ¶meters) override;
private:
void publishPresence();
// ROS2 subscriptions
rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr mTurnOnSubscription;
void turnOnCallback(const std_msgs::msg::Bool::SharedPtr message);
// ROS2 services
rclcpp::Service<webots_ros2_msgs::srv::GetBool>::SharedPtr mIsOnService;
void isOnCallback(const std::shared_ptr<webots_ros2_msgs::srv::GetBool::Request> request,
std::shared_ptr<webots_ros2_msgs::srv::GetBool::Response> response);
// ROS2 topics
rclcpp::Publisher<webots_ros2_msgs::msg::BoolStamped>::SharedPtr mPresencePublisher;
webots_ros2_msgs::msg::BoolStamped mPresenceMessage;
bool mIsPresenceEnabled;
// Device
WbDeviceTag mVacuumGripper;
// Runtime vars
std::string mDeviceName;
};
} // namespace webots_ros2_driver
#endif