action_check_path.h

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/* Author: Wim Meeusen */

#ifndef ACTION_CHECK_PATH_H
#define ACTION_CHECK_PATH_H


#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <nav_msgs/GetPlan.h>
#include <door_msgs/CheckPathGoal.h>
#include <door_msgs/CheckPathAction.h>
#include <actionlib/server/simple_action_server.h>


namespace door_handle_detector{

class CheckPathAction
{
public:
  CheckPathAction(tf::TransformListener& tf);
  ~CheckPathAction();

private:
  void execute(const door_msgs::CheckPathGoalConstPtr& goal);

  tf::TransformListener& tf_; 
  actionlib::SimpleActionServer<door_msgs::CheckPathAction> action_server_;
  door_msgs::CheckPathResult action_result_;

  nav_msgs::GetPlan::Request  req_plan;
  nav_msgs::GetPlan::Response res_plan;
};

}
#endif