SMACC2
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goal_checker_switcher.hpp
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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 ******************************************************************************************************************/
20#pragma once
21
22#include <string>
23
24#include <rclcpp/rclcpp.hpp>
25#include <smacc2/component.hpp>
26#include <std_msgs/msg/string.hpp>
27
28namespace cl_nav2z
29{
30// this class is used to switch the current goal checker of the remote navigation2 stack controller
32{
33public:
35 std::string goal_checker_selector_topic = "goal_checker_selector",
36 std::string default_goal_checker_name = "goal_checker");
37 void onInitialize() override;
38 virtual ~GoalCheckerSwitcher();
40 void setGoalCheckerId(std::string goal_checker_id);
41
42private:
45 rclcpp::Publisher<std_msgs::msg::String>::SharedPtr goal_checker_selector_pub_;
46};
47} // namespace cl_nav2z
void setGoalCheckerId(std::string goal_checker_id)
rclcpp::Publisher< std_msgs::msg::String >::SharedPtr goal_checker_selector_pub_