CLASS feedback manager

Header

additional informations from the PDDL action implementations as topic

Authors: Francesco Ganci
Version: v1.0

Defines

ACTION_NAME_UNKNOWN

TOPIC_ACTION_FEEDBACK

class action_feedback_manager

#include <feedback_manager.h>

utilities for sending further infos to the pipeline manager.

Public Functions

action_feedback_manager(std::string act_name = ACTION_NAME_UNKNOWN)

constructor of action_feedback_manager

this function opens the publisher and performs some other intialization.

~action_feedback_manager(): class destructor

void fb_failure(std::vector<diagnostic_msgs::KeyValue> parameters, std::string details)

other failures

forinstance, can’t reach a given service.

void fb_hw_failure(std::vector<diagnostic_msgs::KeyValue> parameters, std::string details): unspecified hardware failure

void fb_hw_manipulation_failure(std::vector<diagnostic_msgs::KeyValue> parameters, std::string details): hardware manipulation failure

void fb_hw_navigation_failure(std::vector<diagnostic_msgs::KeyValue> parameters, std::string details): hardware navigation failure

Public Members

std::string action_name: the name of the action

Private Functions

robocluedo_rosplan_msgs::ActionFeedback build_msg(std::vector<diagnostic_msgs::KeyValue> parameters, bool goal_achieved = true, bool failure = false, bool hw_failure = false, bool failure_nav_system = false, bool failure_manipulation = false, std::string details = "")

build a action feedback message

Parameters: parameters – directly from the propertied of the action
Returns: the feedback message ready to be sent

void pub(robocluedo_rosplan_msgs::ActionFeedback &msg): publish the feedback

Private Members

ros::NodeHandle nh: ROS node handle.

ros::Publisher pub_action_feedback: the publisher handle

Implementation

additional informations from the PDDL action implementations as topic