From 3cc8a8f958ee52046226aa07f516417583b3feda Mon Sep 17 00:00:00 2001
From: Joan Perez Ibarz <jperez@iri.upc.edu>
Date: Tue, 5 Jul 2011 16:12:24 +0000
Subject: [PATCH] [iri_action_server] - adding setAborted and isActive
methods to public API
[loquendo_tts_node]
- removing actionlib as dependency, now using iri_action_server
[hrengagement_node]
- adding MoveBase action to interact with no_collision_node
[no_collision_node]
- first version to test:
- node is getting data from Odometry, Laser
- input action available
- publishing twist to platform
- first approach for movePlatform
---
include/iri_action_server/iri_action_server.h | 32 ++++++++++++++++++-
1 file changed, 31 insertions(+), 1 deletion(-)
diff --git a/include/iri_action_server/iri_action_server.h b/include/iri_action_server/iri_action_server.h
index d70ba47..ed1c0b9 100755
--- a/include/iri_action_server/iri_action_server.h
+++ b/include/iri_action_server/iri_action_server.h
@@ -212,7 +212,25 @@ class IriActionServer
* then starts the simple action server.
*/
void start(void);
-
+
+ /**
+ * \brief Abort Action
+ *
+ * Calls the ROS simple action server to abort current action
+ *
+ * \param result An optional result to send back to any clients of the goal
+ * \param text An optional text message to send back to any clients of the goal
+ */
+ void setAborted(const Result& result = Result(), const std::string& text = std::string(""));
+
+ /**
+ * \brief Action is Active
+ *
+ * Allows polling implementations to query about the status of the current goal
+ * @return True if a goal is active, false otherwise
+ */
+ bool isActive(void);
+
/**
* \brief Set Loop Rate
*
@@ -318,6 +336,18 @@ void IriActionServer<ActionSpec>::start(void)
ROS_FATAL("Some Callbacks have not been registered yet!");
}
+template <class ActionSpec>
+void IriActionServer<ActionSpec>::setAborted(const Result& result, const std::string& text)
+{
+ as_.setAborted(result, text);
+}
+
+template <class ActionSpec>
+bool IriActionServer<ActionSpec>::isActive(void)
+{
+ return as_.isActive();
+}
+
template <class ActionSpec>
void IriActionServer<ActionSpec>::executeCallback(const GoalConstPtr& goal)
{
--
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