locomotor_action_server.h
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34 
35 #ifndef LOCOMOTOR_LOCOMOTOR_ACTION_SERVER_H
36 #define LOCOMOTOR_LOCOMOTOR_ACTION_SERVER_H
37 
39 #include <locomotor_msgs/NavigateToPoseAction.h>
40 #include <locomotor_msgs/NavigationState.h>
41 #include <string>
42 
43 namespace locomotor
44 {
45 using NewGoalCallback = std::function<void (const nav_2d_msgs::Pose2DStamped&)>;
46 
48 {
49 public:
50  LocomotorActionServer(const ros::NodeHandle nh, NewGoalCallback cb, const std::string name = "navigate");
51  void publishFeedback(const locomotor_msgs::NavigationState& nav_state);
52  void completeNavigation();
53  void failNavigation(const locomotor_msgs::ResultCode& result_code);
54 protected:
55  void preGoalCallback();
56  void preemptCallback();
58  locomotor_msgs::NavigateToPoseFeedback feedback_;
60 };
61 } // namespace locomotor
62 
63 #endif // LOCOMOTOR_LOCOMOTOR_ACTION_SERVER_H
void failNavigation(const locomotor_msgs::ResultCode &result_code)
LocomotorActionServer(const ros::NodeHandle nh, NewGoalCallback cb, const std::string name="navigate")
std::function< void(const nav_2d_msgs::Pose2DStamped &)> NewGoalCallback
void publishFeedback(const locomotor_msgs::NavigationState &nav_state)
actionlib::SimpleActionServer< locomotor_msgs::NavigateToPoseAction > navigate_action_server_
locomotor_msgs::NavigateToPoseFeedback feedback_


locomotor
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autogenerated on Sun Jan 10 2021 04:08:39