ROSPlan action move_to

Action Header

ROSPlan action implementation.

This nodE implements the action (move-to ?from ?to) telling the robot to move from one “marker” to the other one.

Very important to point out that, at this level, the system performs a topological localization, leaving the service implementing the navigaiton to assign the cartesian coordinates to the waypoints.

Authors: Francesco Ganci
Version: v1.0

Note

as other actions do, the move_to, in order to carry out the navigation, assumes some other node implemented a service defined by this package, and then the node tries to connect to that service.

Defines

ROSPLAN_ACTION_NAME

SRV_NAVIGATION

namespace KCL_rosplan

class RP_rcl_move_to : public RPActionInterface

#include <move_to.h>

Public Functions

RP_rcl_move_to(ros::NodeHandle &nh_): class constructor

~RP_rcl_move_to(): class destructor

bool concreteCallback(const rosplan_dispatch_msgs::ActionDispatch::ConstPtr &msg): ROSPlan concrete callback

Private Members

ros::NodeHandle &nh: node handle

action_feedback_manager fb: action feedback manager (as object instance)

ros::ServiceClient cl_navigation: client — navigation service

std::string action_name = ROSPLAN_ACTION_NAME: name of the implemented action

Action Implementation

ROSPlan action implementation.

ROSPlan action implementation as ROS node.

Node implementation

Functions

void shut_msg(int sig)

int main(int argc, char **argv)