cb_navigate_next_waypoint.cpp

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#include <move_base_z_client_plugin/client_behaviors/cb_navigate_next_waypoint.h>
#include <move_base_z_client_plugin/components/waypoints_navigator/waypoints_navigator.h>
 
namespace cl_move_base_z
{
CbNavigateNextWaypoint::CbNavigateNextWaypoint()
{
}
 
CbNavigateNextWaypoint::~CbNavigateNextWaypoint()
{
}
 
void CbNavigateNextWaypoint::onEntry()
{
  auto waypointsNavigator = moveBaseClient_->getComponent<WaypointNavigator>();
  waypointsNavigator->sendNextGoal();
  ROS_INFO("[CbNavigateNextWaypoint] current iteration waypoints x: %ld",
           waypointsNavigator->getCurrentWaypointIndex());
}
 
void CbNavigateNextWaypoint::onExit()
{
}
 
}  // namespace cl_move_base_z