| 89 | }; |
| 90 | |
| 91 | void ChassisExecutor::Cancel(){ |
| 92 | switch (execution_mode_){ |
| 93 | case ExcutionMode::IDLE_MODE: |
| 94 | ROS_WARN("Nothing to be canceled."); |
| 95 | break; |
| 96 | |
| 97 | case ExcutionMode::GOAL_MODE: |
| 98 | global_planner_client_.cancelGoal(); |
| 99 | local_planner_client_.cancelGoal(); |
| 100 | execution_mode_ = ExcutionMode::IDLE_MODE; |
| 101 | break; |
| 102 | |
| 103 | case ExcutionMode::SPEED_MODE: |
| 104 | cmd_vel_pub_.publish(zero_twist_); |
| 105 | execution_mode_ = ExcutionMode::IDLE_MODE; |
| 106 | break; |
| 107 | |
| 108 | case ExcutionMode::SPEED_WITH_ACCEL_MODE: |
| 109 | cmd_vel_acc_pub_.publish(zero_twist_accel_); |
| 110 | execution_mode_ = ExcutionMode::IDLE_MODE; |
| 111 | usleep(50000); |
| 112 | break; |
| 113 | default: |
| 114 | ROS_ERROR("Wrong Execution Mode"); |
| 115 | } |
| 116 | |
| 117 | } |
| 118 | |
| 119 | void ChassisExecutor::GlobalPlannerFeedbackCallback(const roborts_msgs::GlobalPlannerFeedbackConstPtr& global_planner_feedback){ |
| 120 | if (!global_planner_feedback->path.poses.empty()) { |
nothing calls this directly
no outgoing calls
no test coverage detected