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00036 #include "object_manipulator/object_manipulator.h"
00037
00038 #include <ros/ros.h>
00039
00040 #include <actionlib/server/simple_action_server.h>
00041
00042 #include <object_manipulation_msgs/PickupAction.h>
00043 #include <object_manipulation_msgs/PlaceAction.h>
00044
00045 namespace object_manipulator {
00046
00047 static const std::string PICKUP_ACTION_NAME = "object_manipulator_pickup";
00048 static const std::string PLACE_ACTION_NAME = "object_manipulator_place";
00049
00051 class ObjectManipulatorNode
00052 {
00053 private:
00055 ros::NodeHandle priv_nh_;
00056
00058 ObjectManipulator object_manipulator_;
00059
00061 actionlib::SimpleActionServer<object_manipulation_msgs::PickupAction> pickup_action_server_;
00062
00064 actionlib::SimpleActionServer<object_manipulation_msgs::PlaceAction> place_action_server_;
00065
00067 void pickupCallback(const object_manipulation_msgs::PickupGoal::ConstPtr &goal)
00068 {
00069 object_manipulator_.pickup(goal, &pickup_action_server_);
00070 }
00071
00073 void placeCallback(const object_manipulation_msgs::PlaceGoal::ConstPtr &goal)
00074 {
00075 object_manipulator_.place(goal, &place_action_server_);
00076 }
00077
00078 public:
00079 ObjectManipulatorNode() : priv_nh_("~"),
00080 pickup_action_server_( priv_nh_, PICKUP_ACTION_NAME,
00081 boost::bind(&ObjectManipulatorNode::pickupCallback, this, _1),
00082 false),
00083 place_action_server_( priv_nh_, PLACE_ACTION_NAME,
00084 boost::bind(&ObjectManipulatorNode::placeCallback, this, _1),
00085 false)
00086 {
00087 pickup_action_server_.start();
00088 place_action_server_.start();
00089 }
00090 };
00091
00092 }
00093
00094 int main(int argc, char** argv)
00095 {
00096 ros::init(argc, argv, "object_manipulator");
00097 object_manipulator::ObjectManipulatorNode node;
00098 ros::spin();
00099 return 0;
00100 }