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Added move_base actionlib to set goal with feedback

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This commit is contained in:
Mathieu Labbe
2015-02-06 15:27:02 -05:00
parent cd4975849a
commit 73bdbfc0c2
4 changed files with 89 additions and 13 deletions
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src/CoreWrapper.h
+14
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@@ -63,6 +63,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <actionlib/client/simple_action_client.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <move_base_msgs/MoveBaseActionGoal.h>
#include <move_base_msgs/MoveBaseActionResult.h>
#include <move_base_msgs/MoveBaseActionFeedback.h>
#include <actionlib_msgs/GoalStatusArray.h>
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
class CoreWrapper
{
public:
@@ -132,6 +140,9 @@ private:
void publishStats(const rtabmap::Statistics & stats, const ros::Time & stamp);
void publishCurrentGoal(const ros::Time & stamp);
void goalDoneCb(const actionlib::SimpleClientGoalState& state, const move_base_msgs::MoveBaseResultConstPtr& result);
void goalActiveCb();
void goalFeedbackCb(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);
void publishLocalPath(const ros::Time & stamp);
private:
@@ -147,6 +158,7 @@ private:
std::string configPath_;
std::string databasePath_;
bool waitForTransform_;
bool useActionForGoal_;
tf::Transform mapToOdom_;
boost::mutex mapToOdomMutex_;
@@ -234,6 +246,8 @@ private:
ros::ServiceServer publishMapDataSrv_;
ros::ServiceServer setGoalSrv_;
MoveBaseClient mbClient_;
boost::thread* transformThread_;
float rate_;