CpOdomTrackerActionServer Class Reference

Collaboration diagram for CpOdomTrackerActionServer:

Public Member Functions
	CpOdomTrackerActionServer ()
void	execute (const CpOdomTrackerGoalConstPtr &goal)
void	run ()

Public Attributes
std::shared_ptr< Server >	as_
CpOdomTracker	odomTracker

Detailed Description

Definition at line 30 of file cp_odom_tracker_node.cpp.

Constructor & Destructor Documentation

CpOdomTrackerActionServer()

CpOdomTrackerActionServer::CpOdomTrackerActionServer ( )

inline

Definition at line 36 of file cp_odom_tracker_node.cpp.

: odomTracker("move_base") {}

Member Function Documentation

execute()

void CpOdomTrackerActionServer::execute ( const CpOdomTrackerGoalConstPtr &  goal )

inline

execute()

Definition at line 43 of file cp_odom_tracker_node.cpp.

  {
    try
    {
      switch (goal->command)
      {
        case CpOdomTrackerGoal::RECORD_PATH:
          odomTracker.setWorkingMode(WorkingMode::RECORD_PATH);
          break;
 
        case CpOdomTrackerGoal::CLEAR_PATH:
          odomTracker.setWorkingMode(WorkingMode::CLEAR_PATH);
          break;
 
        case CpOdomTrackerGoal::IDLE:
          odomTracker.setWorkingMode(WorkingMode::IDLE);
          break;
 
        case CpOdomTrackerGoal::START_BROADCAST_PATH:
          odomTracker.setPublishMessages(true);
          break;
 
        case CpOdomTrackerGoal::STOP_BROADCAST_PATH:
          odomTracker.setPublishMessages(false);
          break;
 
        case CpOdomTrackerGoal::PUSH_PATH:
          odomTracker.pushPath();
          break;
 
        case CpOdomTrackerGoal::POP_PATH:
          odomTracker.popPath();
          break;
 
        default:
 
          RCLCPP_ERROR(
            getLogger(), "Odom Tracker Node - Action Server execute error: incorrect command - %d",
            goal->command);
          as_->setAborted();
      }
 
      // never reach succeeded because were are interested in keeping the feedback alive
      as_->setSucceeded();
    }
    catch (std::exception & ex)
    {
      RCLCPP_ERROR(getLogger(), "Odom Tracker Node - Action Server execute error: %s", ex.what());
      as_->setAborted();
    }
  }

References as_, odomTracker, cl_nav2z::odom_tracker::CpOdomTracker::popPath(), cl_nav2z::odom_tracker::CpOdomTracker::pushPath(), cl_nav2z::odom_tracker::CpOdomTracker::setPublishMessages(), and cl_nav2z::odom_tracker::CpOdomTracker::setWorkingMode().

Referenced by run().

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run()

void CpOdomTrackerActionServer::run ( )

inline

run()

Definition at line 101 of file cp_odom_tracker_node.cpp.

  {
    rclcpp::Node::SharedPtr n;
    RCLCPP_INFO(getLogger(), "Creating odom tracker action server");
 
    as_ = std::make_shared<Server>(
      n, "odom_tracker",
      std::bind(&CpOdomTrackerActionServer::execute, this, std::placeholders::_1), false);
    RCLCPP_INFO(getLogger(), "Starting CpOdomTracker Action Server");
 
    as_->start();
 
    ros::spin();
  }

References as_, and execute().

Referenced by main().

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Member Data Documentation

as_

std::shared_ptr<Server> CpOdomTrackerActionServer::as_

Definition at line 33 of file cp_odom_tracker_node.cpp.

Referenced by execute(), and run().

odomTracker

CpOdomTracker CpOdomTrackerActionServer::odomTracker

Definition at line 34 of file cp_odom_tracker_node.cpp.

Referenced by execute().

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The documentation for this class was generated from the following file:

• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/odom_tracker/cp_odom_tracker_node.cpp