RosBase.h

Go to the documentation of this file.

 
#ifndef   _GAMS_PLATFORM_ROS_BASE_H_
#define   _GAMS_PLATFORM_ROS_BASE_H_
 
#ifdef _GAMS_ROS_
 
#include "gams/variables/Self.h"
#include "gams/variables/Sensor.h"
#include "gams/variables/PlatformStatus.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/pose/GPSFrame.h"
#include "gams/pose/CartesianFrame.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 RosBase : public BasePlatform
    {
    public:
      RosBase (
        madara::knowledge::KnowledgeBase * knowledge,
        variables::Sensors * sensors,
        variables::Self * self);
 
      virtual int sense (void) override;
 
      virtual int analyze (void) override;
 
      virtual double get_accuracy () const override;
 
      virtual int land (void) override;
 
      int move (const pose::Position & position,
        const pose::PositionBounds &bounds) override;
 
      // inherit BasePlatform's move overloads
      using BasePlatform::move;
      
      virtual void set_move_speed (const double& speed) override;
 
      virtual int takeoff (void) override;
 
      virtual const pose::ReferenceFrame & get_frame (void) const override;
 
      static void ros_init(const std::string& n = "robot_0");
 
    protected:
      pose::ReferenceFrame * frame_;
 
      void wait_for_go () const;
 
      bool ready_;
    }; // class RosBase
  } // namespace platform
} // namespace gams
 
#endif // _GAMS_ROS_
 
#endif // _GAMS_PLATFORM_ROS_BASE_H_