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This commit is contained in:
Nicolas Hiillos
2023-01-22 16:56:50 +02:00
parent 35d20e38ea
commit b7b15eaba0
5 changed files with 164 additions and 28 deletions
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20
src/robot_controller/include/robot_controller/robot_controller.hpp
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@@ -6,6 +6,9 @@
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"
/**
* Class which creates the ExecuteMotion action which the drawing_controller uses to talk to the robots.
*/
class RobotController : public rclcpp::Node
{
public:
@@ -26,13 +29,15 @@ private:
virtual void motion_handle_accepted(const std::shared_ptr<GoalHandleExecuteMotion> goal_handle);
/// Callback that executes path on robot
virtual void executePath(const std::shared_ptr<GoalHandleExecuteMotion> goal_handle);
};
using ExecuteMotion = robot_interfaces::action::ExecuteMotion;
using GoalHandleExecuteMotion = rclcpp_action::ServerGoalHandle<ExecuteMotion>;
/**
*
*/
RobotController::RobotController(const rclcpp::NodeOptions & options)
: Node("robot_controller",options)
{
@@ -46,6 +51,9 @@ RobotController::RobotController(const rclcpp::NodeOptions & options)
std::bind(&RobotController::motion_handle_accepted, this, _1));
}
/**
*
*/
rclcpp_action::GoalResponse RobotController::motion_handle_goal(
const rclcpp_action::GoalUUID & uuid,
std::shared_ptr<const ExecuteMotion::Goal> goal)
@@ -55,6 +63,9 @@ rclcpp_action::GoalResponse RobotController::motion_handle_goal(
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
}
/**
*
*/
rclcpp_action::CancelResponse RobotController::motion_handle_cancel(
const std::shared_ptr<GoalHandleExecuteMotion> goal_handle)
{
@@ -63,6 +74,9 @@ rclcpp_action::CancelResponse RobotController::motion_handle_cancel(
return rclcpp_action::CancelResponse::ACCEPT;
}
/**
*
*/
void RobotController::motion_handle_accepted(const std::shared_ptr<GoalHandleExecuteMotion> goal_handle)
{
using namespace std::placeholders;
@@ -70,7 +84,9 @@ void RobotController::motion_handle_accepted(const std::shared_ptr<GoalHandleExe
std::thread{std::bind(&RobotController::executePath, this, _1), goal_handle}.detach();
}
/// Callback that executes path on robot
/**
* Callback that executes path on robot
*/
void RobotController::executePath(const std::shared_ptr<GoalHandleExecuteMotion> goal_handle)
{
const auto goal = goal_handle->get_goal();

11
src/robot_controller/src/cpp/dummy_controller.cpp
View File

@@ -9,13 +9,17 @@
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"
// A controller for a Dummy robot. Only logs messages and serves as an example for real implementation.
/**
* A controller for a Dummy robot. Only logs messages and serves as an example for real implementation.
*/
class DummyController : public RobotController
{
public:
DummyController(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()) : RobotController(options) {}
/// Callback that executes path on robot
/**
* Callback that executes path on robot
*/
virtual void executePath(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteMotion>> goal_handle)
{
RCLCPP_INFO(this->get_logger(), "Executing goal");
@@ -58,6 +62,9 @@ class DummyController : public RobotController
}
};
/**
*
*/
int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);