00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _darwin_simple_nav_client_alg_node_h_ 00026 #define _darwin_simple_nav_client_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "darwin_simple_nav_client_alg.h" 00030 00031 // [publisher subscriber headers] 00032 #include <geometry_msgs/PoseStamped.h> 00033 00034 // [service client headers] 00035 00036 // [action server client headers] 00037 #include <actionlib/client/simple_action_client.h> 00038 #include <actionlib/client/terminal_state.h> 00039 #include <move_base_msgs/MoveBaseAction.h> 00040 00045 class DarwinSimpleNavClientAlgNode : public algorithm_base::IriBaseAlgorithm<DarwinSimpleNavClientAlgorithm> 00046 { 00047 private: 00048 // [publisher attributes] 00049 00050 // [subscriber attributes] 00051 ros::Subscriber target_pose_subscriber_; 00052 void target_pose_callback(const geometry_msgs::PoseStamped::ConstPtr& msg); 00053 CMutex target_pose_mutex_; 00054 00055 // [service attributes] 00056 00057 // [client attributes] 00058 00059 // [action server attributes] 00060 00061 // [action client attributes] 00062 actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_client_; 00063 move_base_msgs::MoveBaseGoal move_base_goal_; 00064 void move_baseMakeActionRequest(); 00065 void move_baseDone(const actionlib::SimpleClientGoalState& state, const move_base_msgs::MoveBaseResultConstPtr& result); 00066 void move_baseActive(); 00067 void move_baseFeedback(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback); 00068 00069 bool motion_done; 00070 00071 public: 00078 DarwinSimpleNavClientAlgNode(void); 00079 00086 ~DarwinSimpleNavClientAlgNode(void); 00087 00088 protected: 00101 void mainNodeThread(void); 00102 00115 void node_config_update(Config &config, uint32_t level); 00116 00123 void addNodeDiagnostics(void); 00124 00125 // [diagnostic functions] 00126 00127 // [test functions] 00128 }; 00129 00130 #endif