explore_client.cpp

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#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <nav2d_navigator/ExploreAction.h>
#include <std_srvs/Trigger.h>
 
#include <nav2d_navigator/commands.h>
 
typedef actionlib::SimpleActionClient<nav2d_navigator::ExploreAction> ExploreClient;
 
ExploreClient* gExploreClient;
 
bool receiveCommand(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
{
        nav2d_navigator::ExploreGoal goal;
        gExploreClient->sendGoal(goal);
        res.success = true;
        res.message = "Send ExploreGoal to Navigator.";
        return true;
}
 
int main(int argc, char **argv)
{
        ros::init(argc, argv, "Explore");
        ros::NodeHandle n;
        
        ros::ServiceServer cmdServer = n.advertiseService(NAV_EXPLORE_SERVICE, &receiveCommand);
        gExploreClient = new ExploreClient(NAV_EXPLORE_ACTION, true);
        gExploreClient->waitForServer();
        
        ros::spin();
        
        delete gExploreClient;
        return 0;
}