action_open_door.cpp

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/* Author: Wim Meeussen */

#include "pr2_doors_common/door_functions.h"
#include "pr2_doors_actions/action_open_door.h"


using namespace tf;
using namespace KDL;
using namespace ros;
using namespace std;
using namespace door_handle_detector;
using namespace pr2_doors_common;
using namespace actionlib;

static const string fixed_frame = "odom_combined";


OpenDoorAction::OpenDoorAction(tf::TransformListener& tf) :
  tf_(tf),
  action_server_(ros::NodeHandle(), 
                 "open_door", 
                 boost::bind(&OpenDoorAction::execute, this, _1))
{
  ros::NodeHandle node;
  tff_pub_ = node.advertise<tff_controller::TaskFrameFormalism>("r_arm_cartesian_tff_controller/command", 10);
};



OpenDoorAction::~OpenDoorAction()
{};



void OpenDoorAction::execute(const door_msgs::DoorGoalConstPtr& goal)
{ 
  ROS_INFO("OpenDoorAction: execute");

  // open door
  tff_door_.mode.linear.x = tff_door_.VELOCITY;
  tff_door_.mode.linear.y = tff_door_.FORCE;
  tff_door_.mode.linear.z = tff_door_.FORCE;
  tff_door_.mode.angular.x = tff_door_.FORCE;
  tff_door_.mode.angular.y = tff_door_.FORCE;
  tff_door_.mode.angular.z = tff_door_.POSITION;
  
  tff_door_.value.linear.x = getDoorDir(goal->door) * 0.45;
  tff_door_.value.linear.y = 0.0;
  tff_door_.value.linear.z = 0.0;
  tff_door_.value.angular.x = 0.0;
  tff_door_.value.angular.y = 0.0;
  tff_door_.value.angular.z = 0.0;
  
  // open door
  while (ros::ok() && !action_server_.isPreemptRequested()){
    tff_pub_.publish(tff_door_);
    Duration(0.1).sleep();
  }
  
  // preempted
  ROS_INFO("ActionOpenDoor: Preempted");
  
  action_server_.setPreempted();
}