simple_execute_ref_server.cpp
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34 
36 
38 #include <actionlib/TestAction.h>
39 #include <ros/ros.h>
40 
41 namespace actionlib
42 {
43 
45 {
46 public:
48 
50 
51 private:
54 
55  void executeCallback(const TestGoalConstPtr& goal);
56 };
57 
58 }
59 
60 using namespace actionlib;
61 
63 {
64  as_.start();
65 }
66 
67 void SimpleExecuteRefServer::executeCallback(const TestGoalConstPtr& goal)
68 {
69  ROS_DEBUG_NAMED("actionlib", "Got a goal of type [%u]", goal->goal);
70  switch (goal->goal)
71  {
72  case 1:
73  ROS_DEBUG_NAMED("actionlib", "Got goal #1");
74  as_.setSucceeded(TestResult(), "The ref server has succeeded");
75  break;
76  case 2:
77  ROS_DEBUG_NAMED("actionlib", "Got goal #2");
78  as_.setAborted(TestResult(), "The ref server has aborted");
79  break;
80  case 4:
81  {
82  ROS_DEBUG_NAMED("actionlib", "Got goal #4");
83  ros::Duration sleep_dur(.1);
84  for (unsigned int i=0; i<100; i++)
85  {
86  sleep_dur.sleep();
87  if (as_.isPreemptRequested())
88  {
89  as_.setPreempted();
90  return;
91  }
92  }
93  as_.setAborted();
94  break;
95  }
96  default:
97  break;
98  }
99 }
100 
101 int main(int argc, char** argv)
102 {
103  ros::init(argc, argv, "ref_server");
104 
106 
107  ros::spin();
108 
109  return 0;
110 }
111 
112 
int main(int argc, char **argv)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
server
void setSucceeded(const Result &result=Result(), const std::string &text=std::string(""))
ROSCPP_DECL void spin(Spinner &spinner)
#define ROS_DEBUG_NAMED(name,...)
ROS_INFO ROS_ERROR int pointer * argv
Definition: roseus.cpp:819
void setPreempted(const Result &result=Result(), const std::string &text=std::string(""))
void executeCallback(const TestGoalConstPtr &goal)
ServerGoalHandle< TestAction > GoalHandle
void setAborted(const Result &result=Result(), const std::string &text=std::string(""))
SimpleActionServer< TestAction > as_


roseus
Author(s): Kei Okada
autogenerated on Thu Apr 4 2019 02:55:35