Class CpNav2ActionInterface

Defined in File cp_nav2_action_interface.hpp

Inheritance Relationships

Base Type

public smacc2::ISmaccComponent

Class Documentation

class CpNav2ActionInterface : public smacc2::ISmaccComponent 

Public Types

using ActionType = nav2_msgs::action::NavigateToPose

using Goal = ActionType::Goal

using Result = ActionType::Result

using Feedback = ActionType::Feedback

using GoalHandle = rclcpp_action::ClientGoalHandle<ActionType>

using WrappedResult = typename GoalHandle::WrappedResult

using ActionClient = smacc2::client_core_components::CpActionClient<ActionType>

Public Functions

CpNav2ActionInterface() = default

virtual ~CpNav2ActionInterface() = default

inline std::shared_future<typename GoalHandle::SharedPtr> sendNavigationGoal(const geometry_msgs::msg::PoseStamped &target)

inline std::shared_future<typename GoalHandle::SharedPtr> sendGoal(Goal &goal)

inline bool cancelNavigation()

inline bool isNavigationServerReady() const

inline void waitForNavigationServer()

template<typename TOrthogonal, typename TClient> inline void onComponentInitialization()

inline void onInitialize() override

inline ActionClient *getActionClient() const

template<typename T> inline boost::signals2::connection onNavigationSucceeded(void (T::* callback)(const WrappedResult&), T *object)

template<typename T> inline boost::signals2::connection onNavigationAborted(void (T::* callback)(const WrappedResult&), T *object)

template<typename T> inline boost::signals2::connection onNavigationCancelled(void (T::* callback)(const WrappedResult&), T *object)

template<typename T> inline boost::signals2::connection onNavigationFeedback(void (T::* callback)(const Feedback&), T *object)

Public Members

smacc2::SmaccSignal<void(const WrappedResult&)> onNavigationSucceeded_

smacc2::SmaccSignal<void(const WrappedResult&)> onNavigationAborted_

smacc2::SmaccSignal<void(const WrappedResult&)> onNavigationCancelled_

smacc2::SmaccSignal<void(const Feedback&)> onNavigationFeedback_

std::function<void(const WrappedResult&)> postNavigationSuccessEvent

std::function<void(const WrappedResult&)> postNavigationAbortedEvent

std::function<void(const WrappedResult&)> postNavigationCancelledEvent

std::function<void(const Feedback&)> postNavigationFeedbackEvent