OdomTrackerActionServer Class Reference

Collaboration diagram for OdomTrackerActionServer:

Public Member Functions
	OdomTrackerActionServer ()
void	execute (const OdomTrackerGoalConstPtr &goal)
void	run ()

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

Detailed Description

Definition at line 16 of file odom_tracker_node.cpp.

Constructor & Destructor Documentation

OdomTrackerActionServer()

OdomTrackerActionServer::OdomTrackerActionServer ( )

inline

Definition at line 22 of file odom_tracker_node.cpp.

      : odomTracker("move_base")
  {
  }

Member Function Documentation

execute()

void OdomTrackerActionServer::execute ( const OdomTrackerGoalConstPtr &  goal )

inline

execute()

Definition at line 32 of file odom_tracker_node.cpp.

  {
    try
    {
      switch (goal->command)
      {
      case OdomTrackerGoal::RECORD_PATH:
        odomTracker.setWorkingMode(WorkingMode::RECORD_PATH);
        break;
 
      case OdomTrackerGoal::CLEAR_PATH:
        odomTracker.setWorkingMode(WorkingMode::CLEAR_PATH);
        break;
 
      case OdomTrackerGoal::IDLE:
        odomTracker.setWorkingMode(WorkingMode::IDLE);
        break;
 
      case OdomTrackerGoal::START_BROADCAST_PATH:
        odomTracker.setPublishMessages(true);
        break;
 
      case OdomTrackerGoal::STOP_BROADCAST_PATH:
        odomTracker.setPublishMessages(false);
        break;
 
      case OdomTrackerGoal::PUSH_PATH:
        odomTracker.pushPath();
        break;
 
      case OdomTrackerGoal::POP_PATH:
        odomTracker.popPath();
        break;
 
      default:
 
        ROS_ERROR("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)
    {
      ROS_ERROR("Odom Tracker Node - Action Server execute error: %s", ex.what());
      as_->setAborted();
    }
  }

References as_, odomTracker, cl_move_base_z::odom_tracker::OdomTracker::popPath(), cl_move_base_z::odom_tracker::OdomTracker::pushPath(), cl_move_base_z::odom_tracker::OdomTracker::setPublishMessages(), and cl_move_base_z::odom_tracker::OdomTracker::setWorkingMode().

Referenced by run().

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run()

void OdomTrackerActionServer::run ( )

inline

run()

Definition at line 87 of file odom_tracker_node.cpp.

  {
    ros::NodeHandle n;
    ROS_INFO("Creating odom tracker action server");
 
    as_ = std::make_shared<Server>(n, "odom_tracker", boost::bind(&OdomTrackerActionServer::execute, this, _1), false);
    ROS_INFO("Starting OdomTracker 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> OdomTrackerActionServer::as_

Definition at line 19 of file odom_tracker_node.cpp.

Referenced by execute(), and run().

odomTracker

OdomTracker OdomTrackerActionServer::odomTracker

Definition at line 20 of file odom_tracker_node.cpp.

Referenced by execute().

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

• smacc_client_library/move_base_z_client/move_base_z_client_plugin/src/components/odom_tracker/odom_tracker_node.cpp