33 else if (mode ==
"OnStartup")
41 LOG_WARN(
"Found invalid value for param require_activation: '%s'\nShould be one of Never, OnStartup, Always",
48 LOG_INFO(
"Service 'ur_driver/robot_enable' activation mode: %s", mode.c_str());
67 service->onRobotStateChange(state);
bool param(const std::string ¶m_name, T ¶m_val, const T &default_val)
ActivationMode activation_mode_
bool handle(SharedRobotModeData &data, bool error)
ServiceServer advertiseService(ros::NodeHandle n, std::string name, boost::function< bool(const typename ActionSpec::_action_goal_type::_goal_type &, typename ActionSpec::_action_result_type::_result_type &result)> service_cb)
void notify_all(RobotState state)
#define LOG_INFO(format,...)
bool enableCallback(std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &resp)
std::vector< Service * > services_
ServiceStopper(std::vector< Service * > services)
#define LOG_WARN(format,...)