SMACC2
smacc2_sm_reference_library
sm_dance_bot_warehouse_3
include
sm_dance_bot_warehouse_3
orthogonals
or_obstacle_perception.hpp
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// Copyright 2021 RobosoftAI Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*****************************************************************************************************************
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*
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* Authors: Pablo Inigo Blasco, Brett Aldrich
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*
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******************************************************************************************************************/
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#pragma once
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#include <
sm_dance_bot_warehouse_3/clients/cl_lidar/cl_lidar.hpp
>
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#include <
sm_dance_bot_warehouse_3/clients/cl_lidar/components/cp_forward_obstacle_detector.hpp
>
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#include <
smacc2/smacc_orthogonal.hpp
>
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namespace
sm_dance_bot_warehouse_3
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{
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using
sm_dance_bot_warehouse_3::cl_lidar::CpForwardObstacleDetector
;
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class
OrObstaclePerception
:
public
smacc2::Orthogonal
<OrObstaclePerception>
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{
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public
:
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void
onInitialize
()
override
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{
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auto
lidarClient = this->createClient<ClLidarSensor>();
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lidarClient->createComponent<
CpForwardObstacleDetector
>();
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lidarClient->topicName =
"/scan"
;
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lidarClient->timeout_ = rclcpp::Duration(std::chrono::seconds(10));
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}
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};
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}
// namespace sm_dance_bot_warehouse_3
cp_forward_obstacle_detector.hpp
sm_dance_bot_warehouse_3::OrObstaclePerception
Definition:
or_obstacle_perception.hpp:33
sm_dance_bot_warehouse_3::OrObstaclePerception::onInitialize
void onInitialize() override
Definition:
or_obstacle_perception.hpp:35
sm_dance_bot_warehouse_3::cl_lidar::CpForwardObstacleDetector
Definition:
cp_forward_obstacle_detector.hpp:31
smacc2::Orthogonal
Definition:
smacc_orthogonal_impl.hpp:164
sm_dance_bot_warehouse_3
Definition:
cl_led.hpp:27
smacc_orthogonal.hpp
cl_lidar.hpp
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