robot_activity_tutorials.h

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#ifndef ROBOT_ACTIVITY_TUTORIALS_ROBOT_ACTIVITY_TUTORIALS_H
#define ROBOT_ACTIVITY_TUTORIALS_ROBOT_ACTIVITY_TUTORIALS_H

#include <ros/ros.h>
#include <robot_activity/managed_robot_activity.h>

#include <robot_activity_msgs/State.h>
#include <std_srvs/Empty.h>

namespace robot_activity_tutorials
{

class RobotActivityTutorials : public robot_activity::ManagedRobotActivity
{
public:
  using ManagedRobotActivity::ManagedRobotActivity;
  ~RobotActivityTutorials() { }

  void onManagedCreate() override;
  void onManagedTerminate() override;

  bool onManagedConfigure() override;
  bool onManagedUnconfigure() override;

  bool onManagedStart() override;
  bool onManagedStop() override;

  bool onManagedResume() override;
  bool onManagedPause() override;

private:
  void timerCallback();
  void heartbeatCallback(boost::shared_ptr<robot_activity_msgs::State const> msg);

  bool serviceCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);

  int counter = 0;
};

}  // namespace robot_activity_tutorials

#endif  // ROBOT_ACTIVITY_TUTORIALS_ROBOT_ACTIVITY_TUTORIALS_H