SMACC2
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cb_ros_launch.cpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 ******************************************************************************************************************/
21
22namespace smacc2
23{
24namespace client_behaviors
25{
27
28// CbRosLaunch::CbRosLaunch(std::string packageName, std::string launchFileName)
29// : packageName_(packageName), launchFileName_(launchFileName)
30// {
31// }
32
34
35template <typename TOrthogonal, typename TSourceObject>
37{
38 smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
39}
40
42{
43 RCLCPP_INFO_STREAM(getLogger(), "[CbRosLaunch] OnEntry");
44
45 std::string packageName, launchFileName;
47 {
48 RCLCPP_INFO_STREAM(
49 getLogger(), "[CbRosLaunch] launching: " << *packageName_ << " , " << *launchFileName_);
51 *packageName_, *launchFileName_, [this]() { return this->isShutdownRequested(); });
52 }
53 else
54 {
55 RCLCPP_INFO_STREAM(getLogger(), "[CbRosLaunch] finding Ros Launch client");
56
58 if (client_ != nullptr)
59 {
60 RCLCPP_INFO_STREAM(
61 getLogger(), "[CbRosLaunch] launching from client: " << client_->packageName_ << " , "
63
64 client_->launch();
65 }
66 else
67 {
68 RCLCPP_ERROR(
69 getLogger(),
70 "[CbRosLaunch] Inccorrect ros launch operation. No Ros Launch client specified neither "
71 "package/roslaunch file path.");
72 }
73 }
74}
75
76} // namespace client_behaviors
77} // namespace smacc2
virtual rclcpp::Logger getLogger() const
void requiresClient(SmaccClientType *&storage)
static std::future< std::string > executeRosLaunch(std::string packageName, std::string launchFilename, std::function< bool()> cancelCondition)
std::optional< std::string > launchFileName_
smacc2::client_bases::ClRosLaunch * client_
std::optional< std::string > packageName_