action_runner.cpp

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/* Author: Wim Meeussen */

#include <door_msgs/Door.h>
#include "pr2_doors_actions/action_detect_door.h"
#include "pr2_doors_actions/action_detect_handle.h"
#include "pr2_doors_actions/action_check_path.h"
#include "pr2_doors_actions/action_grasp_handle.h"
#include "pr2_doors_actions/action_open_door.h"
//#include "pr2_doors_actions/action_push_door.h"
#include "pr2_doors_actions/action_release_handle.h"
//#include "pr2_doors_actions/action_touch_door.h"
#include "pr2_doors_actions/action_unlatch_handle.h"
#include "pr2_doors_actions/action_move_base_door.h"


using namespace door_handle_detector;


// -----------------------------------
//              MAIN
// -----------------------------------

int main(int argc, char** argv)
{
  ros::init(argc,argv,"door_domain_action_runer"); 

  tf::TransformListener tf;

  DetectDoorAction detect_door(tf);
  DetectHandleAction detect_handle(tf);
  //  TouchDoorAction touch(tf);
  //  PushDoorAction push(tf);
  GraspHandleAction grasp(tf);
  UnlatchHandleAction unlatch(tf);
  OpenDoorAction open(tf);
  ReleaseHandleAction release(tf);
  CheckPathAction check_path(tf);
  MoveBaseDoorAction move_base_door(tf);

  ros::spin();
  return 0;
}