planner_switcher.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <smacc/client_bases/smacc_action_client.h>
#include <smacc/component.h>
 
#include <dynamic_reconfigure/Config.h>
#include <dynamic_reconfigure/DoubleParameter.h>
#include <dynamic_reconfigure/Reconfigure.h>
#include <ros/ros.h>
#include <functional>
 
namespace cl_move_base_z
{
class PlannerSwitcher : public smacc::ISmaccComponent
{
public:
  PlannerSwitcher();
  void setBackwardPlanner();
  void setUndoPathBackwardsPlannerConfiguration();
  void setUndoPathPureSpinningPlannerConfiguration();
 
  void setForwardPlanner();
  void setPureSpinningPlanner();
 
  virtual void onInitialize() override;
 
  // sets ROS defaults local and global planners
  void setDefaultPlanners();
 
private:
  std::string desired_global_planner_;
  std::string desired_local_planner_;
  ros::Subscriber dynrecofSub_;
  bool set_planners_mode_flag;
 
  void updatePlanners(bool subscribecallback = true);
  void dynreconfCallback(const dynamic_reconfigure::Config::ConstPtr& configuration_update);
};
}  // namespace cl_move_base_z