cl_nav2z::CpCostmapProxy Class Reference

#include <cp_costmap_switch.hpp>

Collaboration diagram for cl_nav2z::CpCostmapProxy:

Public Member Functions
	CpCostmapProxy (std::string costmap_name, std::string enablePropertyName, rclcpp::Node::SharedPtr nh)
void	setCostmapEnabled (bool value)

Private Member Functions
rclcpp::Node::SharedPtr	getNode ()

Private Attributes
std::string	costmapName_
rclcpp::Node::SharedPtr	nh_

Detailed Description

Definition at line 78 of file cp_costmap_switch.hpp.

Constructor & Destructor Documentation

CpCostmapProxy()

cl_nav2z::CpCostmapProxy::CpCostmapProxy	(	std::string	costmap_name,
		std::string	enablePropertyName,
		rclcpp::Node::SharedPtr	nh
	)

Definition at line 118 of file cp_costmap_switch.cpp.

: nh_(nh)
{
  // this->costmapName_ = costmap_name + "/set_parameters";
  // dynamic_reconfigure::BoolParameter enableField;
  // enableField.name = "enabled";
  // enableField.value = true;
 
  // enableReq.bools.push_back(enableField);
 
  // enableField.value = false;
  // disableReq.bools.push_back(enableField);
  RCLCPP_ERROR(nh->get_logger(), "costmap switch not implemented %s", costmapName_.c_str());
}

References costmapName_.

Member Function Documentation

getNode()

rclcpp::Node::SharedPtr cl_nav2z::CpCostmapProxy::getNode ( )

inlineprivate

Definition at line 90 of file cp_costmap_switch.hpp.

{ return nh_; }

References nh_.

setCostmapEnabled()

void cl_nav2z::CpCostmapProxy::setCostmapEnabled

(

bool

value

)

Definition at line 134 of file cp_costmap_switch.cpp.

{
  // dynamic_reconfigure::ReconfigureRequest srv_req;
  // dynamic_reconfigure::ReconfigureResponse srv_resp;
 
  // if (value)
  //     srv_req.config = enableReq;
  // else
  //     srv_req.config = disableReq;
 
  // if (ros::service::exists(costmapName_, true))
  // {
  //     RCLCPP_INFO(getLogger(),"sending dynamic reconfigure request: %s", costmapName_.c_str());
  //     ros::service::call(costmapName_, srv_req, srv_resp);
  // }
  // else
  // {
  //     RCLCPP_WARN(getLogger(),"could not call dynamic reconfigure server. It does not exist: %s", costmapName_.c_str());
  // }
 
  RCLCPP_ERROR(nh_->get_logger(), "costmap switch not implemented %s", costmapName_.c_str());
}

References costmapName_, and nh_.

Member Data Documentation

costmapName_

std::string cl_nav2z::CpCostmapProxy::costmapName_

private

Definition at line 87 of file cp_costmap_switch.hpp.

Referenced by CpCostmapProxy(), and setCostmapEnabled().

nh_

rclcpp::Node::SharedPtr cl_nav2z::CpCostmapProxy::nh_

private

Definition at line 88 of file cp_costmap_switch.hpp.

Referenced by getNode(), and setCostmapEnabled().

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/components/costmap_switch/cp_costmap_switch.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/costmap_switch/cp_costmap_switch.cpp