object_manipulator_node.cpp
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00002 *
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00033 
00034 // Author(s): Matei Ciocarlie
00035 
00036 #include "object_manipulator/object_manipulator.h"
00037 
00038 #include <ros/ros.h>
00039 
00040 #include <actionlib/server/simple_action_server.h>
00041 
00042 #include <object_manipulation_msgs/PickupAction.h>
00043 #include <object_manipulation_msgs/PlaceAction.h>
00044 
00045 namespace object_manipulator {
00046 
00047 static const std::string PICKUP_ACTION_NAME = "object_manipulator_pickup";
00048 static const std::string PLACE_ACTION_NAME = "object_manipulator_place";
00049 
00051 class ObjectManipulatorNode
00052 {
00053 private:
00055   ros::NodeHandle priv_nh_;
00056 
00058   ObjectManipulator object_manipulator_;
00059 
00061   actionlib::SimpleActionServer<object_manipulation_msgs::PickupAction> pickup_action_server_;
00062 
00064   actionlib::SimpleActionServer<object_manipulation_msgs::PlaceAction> place_action_server_;
00065 
00067   void pickupCallback(const object_manipulation_msgs::PickupGoal::ConstPtr &goal)
00068   {
00069     object_manipulator_.pickup(goal, &pickup_action_server_);
00070   }
00071 
00073   void placeCallback(const object_manipulation_msgs::PlaceGoal::ConstPtr &goal)
00074   {
00075     object_manipulator_.place(goal, &place_action_server_);
00076   }
00077 
00078 public:
00079   ObjectManipulatorNode() : priv_nh_("~"),
00080                             pickup_action_server_( priv_nh_, PICKUP_ACTION_NAME,
00081                                                    boost::bind(&ObjectManipulatorNode::pickupCallback, this, _1),
00082                                                    false),
00083                             place_action_server_( priv_nh_, PLACE_ACTION_NAME,
00084                                                   boost::bind(&ObjectManipulatorNode::placeCallback, this, _1),
00085                                                   false)
00086   {
00087     pickup_action_server_.start();
00088     place_action_server_.start();
00089   }
00090 };
00091 
00092 } //namespace
00093 
00094 int main(int argc, char** argv)
00095 {
00096   ros::init(argc, argv, "object_manipulator");
00097   object_manipulator::ObjectManipulatorNode node;
00098   ros::spin();
00099   return 0;
00100 }
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katana_object_manipulator
Author(s): Henning Deeken
autogenerated on Thu Jan 3 2013 14:44:43