cl_move_base_z::CostmapProxy Class Reference

#include <cp_costmap_switch.h>

Collaboration diagram for cl_move_base_z::CostmapProxy:

Public Member Functions
	CostmapProxy (std::string costmap_name, std::string enablePropertyName)
void	setCostmapEnabled (bool value)

Private Member Functions
void	dynreconfCallback (const dynamic_reconfigure::Config::ConstPtr &configuration_update)

Private Attributes
std::string	costmapName_
dynamic_reconfigure::Config	enableReq
dynamic_reconfigure::Config	disableReq
ros::Subscriber	dynrecofSub_

Detailed Description

Definition at line 60 of file cp_costmap_switch.h.

Constructor & Destructor Documentation

CostmapProxy()

cl_move_base_z::CostmapProxy::CostmapProxy	(	std::string	costmap_name,
		std::string	enablePropertyName
	)

Definition at line 99 of file cp_costmap_switch.cpp.

{
    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);
}

References costmapName_, disableReq, and enableReq.

Member Function Documentation

dynreconfCallback()

void cl_move_base_z::CostmapProxy::dynreconfCallback ( const dynamic_reconfigure::Config::ConstPtr &  configuration_update )

private

Definition at line 133 of file cp_costmap_switch.cpp.

{
    // auto gp = std::find_if(configuration_update->strs.begin(), configuration_update->strs.begin(),
    //                        [&](const dynamic_reconfigure::StrParameter &p) { return p.name == "base_global_planner" && p.value == desired_global_planner_; });
}

setCostmapEnabled()

void cl_move_base_z::CostmapProxy::setCostmapEnabled

(

bool

value

)

Definition at line 112 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))
    {
        ROS_INFO("sending dynamic reconfigure request: %s", costmapName_.c_str());
        ros::service::call(costmapName_, srv_req, srv_resp);
    }
    else
    {
        ROS_WARN("could not call dynamic reconfigure server. It does not exist: %s", costmapName_.c_str());
    }
}

References costmapName_, disableReq, and enableReq.

Member Data Documentation

costmapName_

std::string cl_move_base_z::CostmapProxy::costmapName_

private

Definition at line 68 of file cp_costmap_switch.h.

Referenced by CostmapProxy(), and setCostmapEnabled().

disableReq

dynamic_reconfigure::Config cl_move_base_z::CostmapProxy::disableReq

private

Definition at line 70 of file cp_costmap_switch.h.

Referenced by CostmapProxy(), and setCostmapEnabled().

dynrecofSub_

ros::Subscriber cl_move_base_z::CostmapProxy::dynrecofSub_

private

Definition at line 74 of file cp_costmap_switch.h.

enableReq

dynamic_reconfigure::Config cl_move_base_z::CostmapProxy::enableReq

private

Definition at line 69 of file cp_costmap_switch.h.

Referenced by CostmapProxy(), and setCostmapEnabled().

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

• smacc_client_library/move_base_z_client/move_base_z_client_plugin/include/move_base_z_client_plugin/components/costmap_switch/cp_costmap_switch.h
• smacc_client_library/move_base_z_client/move_base_z_client_plugin/src/components/costmap_switch/cp_costmap_switch.cpp