locomotor_action_server.h

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#ifndef LOCOMOTOR_LOCOMOTOR_ACTION_SERVER_H
#define LOCOMOTOR_LOCOMOTOR_ACTION_SERVER_H

#include <actionlib/server/simple_action_server.h>
#include <locomotor_msgs/NavigateToPoseAction.h>
#include <locomotor_msgs/NavigationState.h>
#include <string>

namespace locomotor
{
using NewGoalCallback = std::function<void (const nav_2d_msgs::Pose2DStamped&)>;

class LocomotorActionServer
{
public:
  LocomotorActionServer(const ros::NodeHandle nh, NewGoalCallback cb, const std::string name = "navigate");
  void publishFeedback(const locomotor_msgs::NavigationState& nav_state);
  void completeNavigation();
  void failNavigation(const locomotor_msgs::ResultCode& result_code);
protected:
  void preGoalCallback();
  void preemptCallback();
  actionlib::SimpleActionServer<locomotor_msgs::NavigateToPoseAction> navigate_action_server_;
  locomotor_msgs::NavigateToPoseFeedback feedback_;
  NewGoalCallback goal_cb_;
};
}  // namespace locomotor

#endif  // LOCOMOTOR_LOCOMOTOR_ACTION_SERVER_H