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Added "cancel_goal" service

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matlabbe
2015-06-21 20:17:31 -04:00
parent fae3e2fd6d
commit 0a40895830
4 changed files with 39 additions and 0 deletions
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src/GuiWrapper.cpp
+18
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@@ -53,6 +53,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/MsgConversion.h"
#include "rtabmap_ros/GetMap.h"
#include "rtabmap_ros/SetGoal.h"
#include "PreferencesDialogROS.h"
@@ -361,6 +362,23 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
processRequestedMap(getMapSrv.response.data);
}
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdGoal)
{
rtabmap_ros::SetGoal setGoalSrv;
setGoalSrv.request.node_id = cmdEvent->getInt();
setGoalSrv.request.node_label = cmdEvent->getStr();
if(!ros::service::call("set_goal", setGoalSrv))
{
ROS_ERROR("Can't call \"set_goal\" service");
}
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdCancelGoal)
{
if(!ros::service::call("cancel_goal", emptySrv))
{
ROS_ERROR("Can't call \"cancel_goal\" service");
}
}
else
{
ROS_WARN("Not handled command (%d)...", cmd);