Magnezijum-Robotics/magrob
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Added dwm rotate

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This commit is contained in:
Pimpest
2025-02-26 16:29:20 +01:00
parent 5e2cc0b5af
commit 43da8a3a37
4 changed files with 82 additions and 5 deletions
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15
mg_navigation/src/mg_navigation.cpp
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@ -60,6 +60,13 @@ namespace mg {
std::bind(&MgNavigationServer::handle_cancel<MovePoint>, this, _1, "MovePoint"),
std::bind(&MgNavigationServer::handle_accepted<MovePoint>, this, _1, "MovePoint"));
sv_move_straight = rclcpp_action::create_server<MoveStraight>(
this,
"MoveStraight",
std::bind(&MgNavigationServer::handle_goal<MoveStraight>, this, _1, _2, "MoveStraight"),
std::bind(&MgNavigationServer::handle_cancel<MoveStraight>, this, _1, "MoveStraight"),
std::bind(&MgNavigationServer::handle_accepted<MoveStraight>, this, _1, "MoveStraight"));
sv_look_at = rclcpp_action::create_server<LookAt>(
this,
"LookAt",
@ -67,12 +74,12 @@ namespace mg {
std::bind(&MgNavigationServer::handle_cancel<LookAt>, this, _1, "LookAt"),
std::bind(&MgNavigationServer::handle_accepted<LookAt>, this, _1, "LookAt"));
sv_move_straight = rclcpp_action::create_server<MoveStraight>(
sv_rotate = rclcpp_action::create_server<Rotate>(
this,
"MoveStraight",
std::bind(&MgNavigationServer::handle_goal<MoveStraight>, this, _1, _2, "MoveStraight"),
std::bind(&MgNavigationServer::handle_cancel<MoveStraight>, this, _1, "MoveStraight"),
std::bind(&MgNavigationServer::handle_accepted<MoveStraight>, this, _1, "MoveStraight"));
std::bind(&MgNavigationServer::handle_goal<Rotate>, this, _1, _2, "MoveStraight"),
std::bind(&MgNavigationServer::handle_cancel<Rotate>, this, _1, "MoveStraight"),
std::bind(&MgNavigationServer::handle_accepted<Rotate>, this, _1, "MoveStraight"));
}
};