SMACC2
smacc_ros_launch_client.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
21#pragma once
22
25
26#include <rclcpp_action/client.hpp>
27#include <thread>
28
29namespace smacc2
30{
31namespace client_bases
32{
34{
35public:
36 ClRosLaunch(std::string packageName, std::string launchFilename);
37
38 virtual ~ClRosLaunch();
39
40 void launch();
41
42 void stop();
43
44 static std::future<std::string> executeRosLaunch(
45 std::string packageName, std::string launchFilename, std::function<bool()> cancelCondition);
46
47 std::string packageName_;
48
49 std::string launchFileName_;
50
51protected:
52 std::future<std::string> result_;
53
54 std::atomic<bool> cancellationToken_ = ATOMIC_VAR_INIT(false);
55};
56} // namespace client_bases
57} // namespace smacc2
ClRosLaunch(std::string packageName, std::string launchFilename)
static std::future< std::string > executeRosLaunch(std::string packageName, std::string launchFilename, std::function< bool()> cancelCondition)