Magnezijum-Robotics/magrob
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This commit is contained in:
Pimpest
2025-04-17 19:24:19 +02:00
parent 0fffe915ca
commit ec831bd334
21 changed files with 686 additions and 0 deletions
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8
mg_navigation/include/mg_navigation.hpp
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@ -17,6 +17,8 @@
#include "tf2_ros/transform_listener.h"
#include "tf2_ros/buffer.h"
#include "path_buffer.hpp"
namespace mg {
namespace Geometry = geometry_msgs::msg;
@ -25,12 +27,14 @@ namespace mg {
public:
RCLCPP_SMART_PTR_ALIASES_ONLY(MgNavigationServer)
using MovePoint = mg_msgs::action::MovePoint;
using MoveGlobal = mg_msgs::action::MoveGlobal;
using MoveStraight = mg_msgs::action::MoveStraight;
using LookAt = mg_msgs::action::LookAt;
using Rotate = mg_msgs::action::Rotate;
rclcpp::Publisher<Geometry::TwistStamped>::SharedPtr pub_twist;
rclcpp_action::Server<MoveGlobal>::SharedPtr sv_move_global;
rclcpp_action::Server<MovePoint>::SharedPtr sv_move_point;
rclcpp_action::Server<MoveStraight>::SharedPtr sv_move_straight;
rclcpp_action::Server<LookAt>::SharedPtr sv_look_at;
@ -43,9 +47,13 @@ namespace mg {
MgNavigationServer(rclcpp::NodeOptions& opts);
std::shared_ptr<PathBuffer> path_buffer() { return path_buffer_; }
private:
bool is_processing = false;
std::shared_ptr<PathBuffer> path_buffer_;
template <typename T>
rclcpp_action::GoalResponse handle_goal(const rclcpp_action::GoalUUID&,
typename T::Goal::ConstSharedPtr,