servo_node.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2020, PickNik Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of PickNik Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/*      Title     : servo_node.h
 *      Project   : moveit_servo
 *      Created   : 07/13/2020
 *      Author    : Adam Pettinger
 */
 
#pragma once
 
#include <moveit_servo/servo.h>
#include <std_srvs/srv/trigger.hpp>
 
namespace moveit_servo
{
class ServoNode
{
public:
  ServoNode(const rclcpp::NodeOptions& options);
 
  // NOLINTNEXTLINE(readability-identifier-naming)
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface()
  {
    return node_->get_node_base_interface();
  }
 
private:
  std::shared_ptr<rclcpp::Node> node_;
  std::unique_ptr<moveit_servo::Servo> servo_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> planning_scene_monitor_;
 
  void startCB(const std::shared_ptr<std_srvs::srv::Trigger::Request>& request,
               const std::shared_ptr<std_srvs::srv::Trigger::Response>& response);
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr start_servo_service_;
 
  void stopCB(const std::shared_ptr<std_srvs::srv::Trigger::Request>& request,
              const std::shared_ptr<std_srvs::srv::Trigger::Response>& response);
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr stop_servo_service_;
 
  void pauseCB(const std::shared_ptr<std_srvs::srv::Trigger::Request>& request,
               const std::shared_ptr<std_srvs::srv::Trigger::Response>& response);
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr pause_servo_service_;
 
  void unpauseCB(const std::shared_ptr<std_srvs::srv::Trigger::Request>& request,
                 const std::shared_ptr<std_srvs::srv::Trigger::Response>& response);
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr unpause_servo_service_;
};
}  // namespace moveit_servo