ROSEE::RosActionServer Class Reference

#include <RosActionServer.h>

Collaboration diagram for ROSEE::RosActionServer:

Public Member Functions
	RosActionServer (std::string topicForAction, ros::NodeHandle *nh)
	~RosActionServer ()
rosee_msg::ROSEEActionControl	getGoal ()
bool	hasGoal () const
bool	hasNewGoal () const
double	getWantedNormError () const
	in message there is a field where norm error of joint position can be set If it is not present in the message sent (thus it is 0) the DEFAULT_ERROR_NORM is used More...
void	sendFeedback (double completation_percentage, std::string currentAction)
	send Feedback to the client who has requested the goal. More...
void	sendComplete ()
void	abortGoal (std::string errorMsg="")

Protected Member Functions
void	goalReceivedCallback ()
void	preemptReceivedCallback ()

Protected Attributes
ros::NodeHandle *	nh
std::string	topicForAction
actionlib::SimpleActionServer< rosee_msg::ROSEECommandAction >	_actionServer
rosee_msg::ROSEEActionControl	actionControlMsg
bool	goalInExecution
bool	newGoal
double	wantedNormError

Detailed Description

Todo:

write docs

Definition at line 32 of file RosActionServer.h.

Constructor & Destructor Documentation

ROSEE::RosActionServer::RosActionServer	(	std::string	topicForAction,
		ros::NodeHandle *	nh
	)

Definition at line 19 of file RosActionServer.cpp.

                                                                                  :
    _actionServer(*nh, topicForAction, false) {
    
    this->nh = nh;
    this->topicForAction = topicForAction;
    goalInExecution = false;
    newGoal = false;
    
    _actionServer.registerGoalCallback (boost::bind(&RosActionServer::goalReceivedCallback, this));
    _actionServer.registerPreemptCallback (boost::bind (&RosActionServer::preemptReceivedCallback, this));
    
    _actionServer.start();
    
}

ROSEE::RosActionServer::~RosActionServer ( )

inline

Definition at line 36 of file RosActionServer.h.

{};

Member Function Documentation

void ROSEE::RosActionServer::abortGoal

(

std::string

errorMsg = ""

)

Definition at line 83 of file RosActionServer.cpp.

                                                       {
    ROS_INFO_STREAM("ROSACTION SERVER Aborted goal");
    rosee_msg::ROSEECommandResult result;
    result.completed_action = actionControlMsg;
    _actionServer.setAborted(result, errorMsg);
    newGoal = false;
    goalInExecution = false;
    wantedNormError = DEFAULT_ERROR_NORM;


}

rosee_msg::ROSEEActionControl ROSEE::RosActionServer::getGoal

(

)

Definition at line 46 of file RosActionServer.cpp.

                                                          {
    if (goalInExecution) {
        newGoal = false;
        return actionControlMsg;
    } else {
        ROS_WARN_STREAM ("ROSACTION SERVER no goal is in execution (no one has" <<
            "arrived or the last one is already completed. EMPTY GOAL RETURNING");
        return rosee_msg::ROSEEActionControl();
    }
}

double ROSEE::RosActionServer::getWantedNormError

(

)

const

in message there is a field where norm error of joint position can be set If it is not present in the message sent (thus it is 0) the DEFAULT_ERROR_NORM is used

Definition at line 42 of file RosActionServer.cpp.

                                                      {
    return wantedNormError;
}

void ROSEE::RosActionServer::goalReceivedCallback ( )

protected

Definition at line 58 of file RosActionServer.cpp.

                                                {
    
    //ROS_INFO_STREAM (goal_action.
    goalInExecution = true;
    newGoal = true;
    this->actionControlMsg = _actionServer.acceptNewGoal()->goal_action;
    
    wantedNormError = actionControlMsg.error_norm == 0 ? DEFAULT_ERROR_NORM : actionControlMsg.error_norm;

    ROS_INFO_STREAM ("ROSACTION SERVER received goal: '" << this->actionControlMsg.action_name  << "'");

    
}

bool ROSEE::RosActionServer::hasGoal

(

)

const

Definition at line 34 of file RosActionServer.cpp.

                                          {
    return goalInExecution;
}

bool ROSEE::RosActionServer::hasNewGoal

(

)

const

Definition at line 38 of file RosActionServer.cpp.

                                             {
    return newGoal;
}

void ROSEE::RosActionServer::preemptReceivedCallback ( )

protected

Definition at line 72 of file RosActionServer.cpp.

                                                   {
    
    ROS_INFO_STREAM("ROSACTION SERVER Preempted old goal");
    goalInExecution = false;
    newGoal = false;
    wantedNormError = DEFAULT_ERROR_NORM;
    // set the action state to preempted
    _actionServer.setPreempted();
    
}

void ROSEE::RosActionServer::sendComplete

(

)

Definition at line 111 of file RosActionServer.cpp.

                                          {
    
    ROS_INFO_STREAM("ROSACTION SERVER Sending final result completed ");
    goalInExecution = false;
    newGoal = false; //even if here should be already false
    wantedNormError = DEFAULT_ERROR_NORM;

    rosee_msg::ROSEECommandResult result;
    result.completed_action = actionControlMsg;
    
    _actionServer.setSucceeded ( result ); 
    //TODO reinitialize actionControlMsg here or not?

}

void ROSEE::RosActionServer::sendFeedback	(	double	completation_percentage,
		std::string	currentAction
	)

send Feedback to the client who has requested the goal.

Parameters

completation_percentage	the percentae that tells how much we have completed the action requested
currentAction	current action that is running. If it is empty, it is taken the name of the action from member actionControlMsg . You should passed not empty string when dealing with timed action (passing the inner action of the timed one)

Definition at line 95 of file RosActionServer.cpp.

                                                                                               {
    
    ROS_INFO_STREAM("ROSACTION SERVER Sending feedback " << completation_percentage );

    rosee_msg::ROSEECommandFeedback feedback;
    feedback.completation_percentage = completation_percentage;
    if (currentAction.size() == 0) {
        feedback.action_name_current = actionControlMsg.action_name;
    } else {
        feedback.action_name_current = currentAction;
    }
    
    _actionServer.publishFeedback(feedback);
    
}

Member Data Documentation

actionlib::SimpleActionServer<rosee_msg::ROSEECommandAction> ROSEE::RosActionServer::_actionServer

protected

Definition at line 65 of file RosActionServer.h.

rosee_msg::ROSEEActionControl ROSEE::RosActionServer::actionControlMsg

protected

Definition at line 66 of file RosActionServer.h.

bool ROSEE::RosActionServer::goalInExecution

protected

Definition at line 67 of file RosActionServer.h.

bool ROSEE::RosActionServer::newGoal

protected

Definition at line 68 of file RosActionServer.h.

ros::NodeHandle* ROSEE::RosActionServer::nh

protected

Definition at line 63 of file RosActionServer.h.

std::string ROSEE::RosActionServer::topicForAction

protected

Definition at line 64 of file RosActionServer.h.

double ROSEE::RosActionServer::wantedNormError

protected

Definition at line 69 of file RosActionServer.h.

---

The documentation for this class was generated from the following files:

• /home/travis/build/ADVRHumanoids/ROSEndEffector/include/end_effector/RosActionServer.h
• /home/travis/build/ADVRHumanoids/ROSEndEffector/src/RosActionServer.cpp