NASA Astrobee Robot Software
0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
ros_ack.h
Go to the documentation of this file.
1
/* Copyright (c) 2017, United States Government, as represented by the
2
* Administrator of the National Aeronautics and Space Administration.
3
*
4
* All rights reserved.
5
*
6
* The Astrobee platform is licensed under the Apache License, Version 2.0
7
* (the "License"); you may not use this file except in compliance with the
8
* License. You may obtain a copy of the License at
9
*
10
* http://www.apache.org/licenses/LICENSE-2.0
11
*
12
* Unless required by applicable law or agreed to in writing, software
13
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
14
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
15
* License for the specific language governing permissions and limitations
16
* under the License.
17
*/
18
19
#ifndef DDS_ROS_BRIDGE_ROS_ACK_H_
20
#define DDS_ROS_BRIDGE_ROS_ACK_H_
21
22
#include <cstring>
23
#include <string>
24
#include <memory>
25
26
#include "
dds_ros_bridge/enum_helper.h
"
27
#include "dds_ros_bridge/ros_sub_rapid_pub.h"
28
#include "dds_ros_bridge/util.h"
29
30
#include "ff_msgs/AckStamped.h"
31
#include "ff_msgs/AgentStateStamped.h"
32
33
#include "knDds/DdsTypedSupplier.h"
34
35
#include "rapidUtil/RapidHelper.h"
36
37
#include "AckSupport.h"
38
#include "RapidConstants.h"
39
40
namespace
ff
{
41
42
class
RosAckToRapid
:
public
RosSubRapidPub
{
43
public
:
44
RosAckToRapid
(
const
std::string& subscribe_topic,
45
const
std::string& pub_topic,
46
const
ros::NodeHandle &nh,
47
const
unsigned
int
queue_size = 10);
48
49
void
Callback
(ff_msgs::AckStamped::ConstPtr
const
& status);
50
51
private
:
52
using
StateSupplier = kn::DdsTypedSupplier<rapid::Ack>;
53
using
StateSupplierPtr = std::unique_ptr<StateSupplier>;
54
55
StateSupplierPtr state_supplier_;
56
};
57
58
}
// end namespace ff
59
60
#endif // DDS_ROS_BRIDGE_ROS_ACK_H_
ff::RosAckToRapid::Callback
void Callback(ff_msgs::AckStamped::ConstPtr const &status)
Definition:
ros_ack.cc:38
enum_helper.h
ff::RosSubRapidPub
Definition:
ros_sub_rapid_pub.h:30
ff::RosAckToRapid::RosAckToRapid
RosAckToRapid(const std::string &subscribe_topic, const std::string &pub_topic, const ros::NodeHandle &nh, const unsigned int queue_size=10)
Definition:
ros_ack.cc:21
ff
Definition:
generic_rapid_msg_ros_pub.h:36
ff::RosAckToRapid
Definition:
ros_ack.h:42