RosP3Dx.h

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#ifndef   _GAMS_PLATFORM_RosP3Dx_H_
#define   _GAMS_PLATFORM_RosP3Dx_H_
 
#ifdef _GAMS_ROS_
 
#include "gams/platforms/ros/RosBase.h"
 
#include "gams/variables/Self.h"
#include "gams/variables/Sensor.h"
#include "gams/variables/PlatformStatus.h"
#include "gams/utility/Position.h"
#include "gams/platforms/PlatformFactory.h"
#include "madara/knowledge/KnowledgeBase.h"
 
// ROS includes
#ifdef __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpedantic"
#endif
 
#include "ros/ros.h"
#include "move_base_msgs/MoveBaseAction.h"
#include "actionlib/client/simple_action_client.h"
#include "geometry_msgs/PoseWithCovarianceStamped.h"
 
#ifdef __GNUC__
#pragma GCC diagnostic pop
#endif
 
namespace gams
{
  namespace platforms
  {
    class GAMS_EXPORT RosP3Dx : public RosBase
    {
    public:
      RosP3Dx (
        madara::knowledge::KnowledgeBase * knowledge,
        variables::Sensors * sensors,
        variables::Platforms * platforms,
        variables::Self * self);
 
      virtual ~RosP3Dx () override = default;
      
      virtual std::string get_id () const override;
 
      virtual std::string get_name () const override;
 
      int move (const pose::Position & position,
        const pose::PositionBounds &bounds) override;
 
      // inherit BasePlatform's move overloads
      using BasePlatform::move;
      
    protected:
      const std::string ros_namespace_;
      ros::NodeHandle node_handle_;
      actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_client_;
      ros::Subscriber amcl_pose_sub_;
      ros::AsyncSpinner spinner_;
      bool init_pose_set_;
 
      void set_initial_position(const pose::Position& p);
 
      void update_pose(const geometry_msgs::PoseWithCovarianceStamped& msg);
    }; // class RosP3Dx
 
    class GAMS_EXPORT RosP3DxFactory : public PlatformFactory
    {
    public:
 
      virtual BasePlatform * create (
        const madara::knowledge::KnowledgeMap & args,
        madara::knowledge::KnowledgeBase * knowledge,
        variables::Sensors * sensors,
        variables::Platforms * platforms,
        variables::Self * self);
      }; // class RosP3DxFactory
  } // namespace platform
} // namespace gams
 
#endif // _GAMS_ROS_
 
#endif // _GAMS_PLATFORM_RosP3Dx_H_