takeoff_action.cpp

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//=================================================================================================
// Copyright (c) 2012-2016, Institute of Flight Systems and Automatic Control,
// Technische Universität Darmstadt.
// All rights reserved.

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#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <hector_uav_msgs/PoseAction.h>
#include <hector_uav_msgs/TakeoffAction.h>
#include <hector_quadrotor_interface/helpers.h>
#include <hector_quadrotor_actions/base_action.h>

namespace hector_quadrotor_actions
{

class TakeoffActionServer
{
public:
  TakeoffActionServer(ros::NodeHandle nh)
      : takeoff_server_(nh, "action/takeoff", boost::bind(&TakeoffActionServer::takeoffActionCb, this, _1)),
        pose_client_(nh, "action/pose")
  {
    nh.param<double>("action_frequency", frequency_, 10.0);
    nh.param<double>("takeoff_height", takeoff_height_, 0.3);
    nh.param<double>("connection_timeout", connection_timeout_, 10.0);
    nh.param<double>("action_timout", action_timeout_, 30.0);

    if(!pose_client_.waitForServer(ros::Duration(connection_timeout_))){
      ROS_ERROR_STREAM("Could not connect to " << nh.resolveName("action/pose"));
    }
  }

  void takeoffActionCb(const hector_uav_msgs::TakeoffGoalConstPtr &goal)
  {

    if(takeoff_server_.enableMotors(true))
    {

      hector_uav_msgs::PoseGoal pose_goal;
      pose_goal.target_pose = *takeoff_server_.getPose();
      pose_goal.target_pose.pose.position.z = takeoff_height_;
      pose_client_.sendGoal(pose_goal);
      pose_client_.waitForResult(ros::Duration(action_timeout_));

      if (pose_client_.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
      {
        ROS_WARN("Takeoff succeeded");
        takeoff_server_.get()->setSucceeded();
        return;
      }
    }
    ROS_WARN("Takeoff failed");
    takeoff_server_.get()->setAborted();
  }

private:
  actionlib::SimpleActionClient<hector_uav_msgs::PoseAction> pose_client_;
  hector_quadrotor_actions::BaseActionServer<hector_uav_msgs::TakeoffAction> takeoff_server_;
  ros::Publisher pose_pub_;

  double frequency_, takeoff_height_, connection_timeout_, action_timeout_;
};

} // namespace hector_quadrotor_actions


int main(int argc, char **argv)
{
  ros::init(argc, argv, "takeoff_action");

  ros::NodeHandle nh;
  hector_quadrotor_actions::TakeoffActionServer server(nh);

  ros::spin();

  return 0;
}