grasp_action_service_node.cpp

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#include <ros/ros.h>
#include <actionlib/server/action_server.h>
#include <object_manipulation_msgs/GraspHandPostureExecutionAction.h>
#include "object_manipulation_msgs/GraspHandPostureExecutionGoal.h"

using namespace object_manipulation_msgs;
using namespace actionlib;

class GraspExecutionAction
{
private:
  typedef ActionServer<GraspHandPostureExecutionAction> GEAS;
  typedef GEAS::GoalHandle GoalHandle;
public:
  GraspExecutionAction(ros::NodeHandle &n) :
    node_(n),
    action_server_(node_, "grasp_execution_action",
                   boost::bind(&GraspExecutionAction::goalCB, this, _1),
                   boost::bind(&GraspExecutionAction::cancelCB, this, _1),
                   false)
  {
    ros::NodeHandle pn("~");
    action_server_.start();
    ROS_INFO_STREAM("Grasp execution action node started");
  }

  ~GraspExecutionAction()
  {
  }

private:


  void goalCB(GoalHandle gh)
  {
    std::string nodeName = ros::this_node::getName();

    ROS_INFO("%s",(nodeName + ": Received grasping goal").c_str());

        switch(gh.getGoal()->goal)
        {
                case GraspHandPostureExecutionGoal::PRE_GRASP:
                        gh.setAccepted();
                        //gh.getGoal()->grasp
                        ROS_INFO("%s",(nodeName + ": Pre-grasp command accepted").c_str());
                        gh.setSucceeded();
                        break;

                case GraspHandPostureExecutionGoal::GRASP:
                        gh.setAccepted();
                        ROS_INFO("%s",(nodeName + ": Executing a gripper grasp").c_str());

                        // wait
                        ros::Duration(1.0f).sleep();
                        gh.setSucceeded();
                        break;

                case GraspHandPostureExecutionGoal::RELEASE:
                        gh.setAccepted();
                        ROS_INFO("%s",(nodeName + ": Executing a gripper release").c_str());

                        // wait
                        ros::Duration(1.0f).sleep();
                        gh.setSucceeded();
                        break;

                default:

                        ROS_INFO("%s",(nodeName + ": Unidentified grasp request, rejecting goal").c_str());
                        gh.setSucceeded();
                        //gh.setRejected();
                        break;
        }

  }

  void cancelCB(GoalHandle gh)
  {
    std::string nodeName = ros::this_node::getName();
        ROS_INFO("%s",(nodeName + ": Canceling current grasp action").c_str());
    //gh.setAccepted();
    gh.setCanceled();
    ROS_INFO("%s",(nodeName + ": Current grasp action has been canceled").c_str());
  }

  ros::NodeHandle node_;
  GEAS action_server_;

};

int main(int argc, char** argv)
{
        ros::init(argc, argv, "grasp_execution_action_node");
        ros::NodeHandle node;
        GraspExecutionAction ge(node);
        ros::spin();
  return 0;
}