explore_client.cpp

Go to the documentation of this file.

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <tf/transform_datatypes.h>
#include <nav2d_navigator/ExploreAction.h>
#include <nav2d_navigator/SendCommand.h>

#include <nav2d_navigator/commands.h>

typedef actionlib::SimpleActionClient<nav2d_navigator::ExploreAction> ExploreClient;

ExploreClient* gExploreClient;

bool receiveCommand(nav2d_navigator::SendCommand::Request &req, nav2d_navigator::SendCommand::Response &res)
{
        if(req.command == NAV_COM_EXPLORE)
        {
                nav2d_navigator::ExploreGoal goal;
                gExploreClient->sendGoal(goal);
                return true;
        }
        return false;
}

int main(int argc, char **argv)
{
        ros::init(argc, argv, "Explore");
        ros::NodeHandle n;
        
        ros::ServiceServer cmdServer = n.advertiseService(NAV_EXPLORE_SERVICE, &receiveCommand);
        gExploreClient = new ExploreClient(NAV_EXPLORE_ACTION, true);
        gExploreClient->waitForServer();
        
        ros::spin();
        
        delete gExploreClient;
        return 0;
}