Program Listing for File follow_path_emulator.hpp
↰ Return to documentation for file (/tmp/ws/src/aerostack2/as2_behavior_tree/test/node_emulators/include/node_emulators/follow_path_emulator.hpp
)
/*!*******************************************************************************************
* \file go_to_emulator.hpp
* \brief Go to emulator class definition
* \authors Miguel Fernández Cortizas
* Pedro Arias Pérez
* David Pérez Saura
* Rafael Pérez Seguí
*
* \copyright Copyright (c) 2022 Universidad Politécnica de Madrid
* All Rights Reserved
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
********************************************************************************/
#ifndef FOLLOW_PATH_EMULATOR_HPP
#define FOLLOW_PATH_EMULATOR_HPP
#include "as2_core/as2_basic_behavior.hpp"
#include "as2_core/names/actions.hpp"
#include "as2_msgs/action/follow_path.hpp"
class FollowPathBehaviorEmulator
: public as2::BasicBehavior<as2_msgs::action::FollowPath> {
public:
using GoalHandleFollowPath =
rclcpp_action::ServerGoalHandle<as2_msgs::action::FollowPath>;
FollowPathBehaviorEmulator()
: as2::BasicBehavior<as2_msgs::action::FollowPath>(
as2_names::actions::behaviors::followpath){
};
~FollowPathBehaviorEmulator(){};
rclcpp_action::GoalResponse onAccepted(
const std::shared_ptr<const as2_msgs::action::FollowPath::Goal> goal) {
// RCLCPP_INFO(this->get_logger(), "Going to %f, %f %f",
// goal->target_pose.point.x, goal->target_pose.point.y,
// goal->target_pose.point.z);
RCLCPP_INFO(this->get_logger(), "Follow path executing");
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
}
rclcpp_action::CancelResponse
onCancel(const std::shared_ptr<GoalHandleFollowPath> goal_handle) {
return rclcpp_action::CancelResponse::ACCEPT;
}
void onExecute(const std::shared_ptr<GoalHandleFollowPath> goal_handle) {
rclcpp::Rate sleep_rate(std::chrono::milliseconds(5000));
sleep_rate.sleep();
RCLCPP_INFO(this->get_logger(), "Follow Path IN PROGRESS: 25%%");
sleep_rate.sleep();
RCLCPP_INFO(this->get_logger(), "FOLLOW PATH IN PROGRESS: 50%%");
sleep_rate.sleep();
RCLCPP_INFO(this->get_logger(), "FOLLOWPATH IN PROGRESS: 75%%");
sleep_rate.sleep();
auto result = std::make_shared<as2_msgs::action::FollowPath::Result>();
result->follow_path_success = true;
goal_handle->succeed(result);
RCLCPP_INFO(this->get_logger(), "GO TO REACHED!!");
}
};
#endif // FOLLOW_PATH_EMULATOR_HPP