54 #ifndef _GAMS_PLATFORM_RosP3Dx_H_ 55 #define _GAMS_PLATFORM_RosP3Dx_H_ 66 #include "madara/knowledge/KnowledgeBase.h" 70 #pragma GCC diagnostic push 71 #pragma GCC diagnostic ignored "-Wpedantic" 75 #include "move_base_msgs/MoveBaseAction.h" 76 #include "actionlib/client/simple_action_client.h" 77 #include "geometry_msgs/PoseWithCovarianceStamped.h" 80 #pragma GCC diagnostic pop 98 madara::knowledge::KnowledgeBase * knowledge,
101 variables::Self *
self);
106 virtual ~RosP3Dx ()
override =
default;
113 virtual std::string get_id ()
const override;
118 virtual std::string get_name ()
const override;
126 int move (
const pose::Position & position,
127 const PositionBounds &bounds)
override;
133 const std::string ros_namespace_;
134 ros::NodeHandle node_handle_;
135 actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_client_;
136 ros::Subscriber amcl_pose_sub_;
137 ros::AsyncSpinner spinner_;
140 void set_initial_position(
const pose::Position& p);
142 void update_pose(
const geometry_msgs::PoseWithCovarianceStamped& msg);
148 class GAMS_EXPORT RosP3DxFactory :
public PlatformFactory
164 virtual BasePlatform * create (
165 const madara::knowledge::KnowledgeMap & args,
166 madara::knowledge::KnowledgeBase * knowledge,
169 variables::Self *
self);
176 #endif // _GAMS_PLATFORM_RosP3Dx_H_
std::map< std::string, Sensor * > Sensors
a map of sensor names to the sensor information
Copyright (c) 2014 Carnegie Mellon University.
Copyright (c) 2014 Carnegie Mellon University.
Copyright (c) 2014 Carnegie Mellon University.
Contains all GAMS-related tools, classes and code.
std::map< std::string, PlatformStatus > Platforms
a map of sensor names to the sensor information