| 4 | namespace roborts_decision{ |
| 5 | |
| 6 | ChassisExecutor::ChassisExecutor():execution_mode_(ExcutionMode::IDLE_MODE), execution_state_(BehaviorState::IDLE), |
| 7 | global_planner_client_("global_planner_node_action", true), |
| 8 | local_planner_client_("local_planner_node_action", true) |
| 9 | { |
| 10 | ros::NodeHandle nh; |
| 11 | cmd_vel_acc_pub_ = nh.advertise<roborts_msgs::TwistAccel>("cmd_vel_acc", 100); |
| 12 | cmd_vel_pub_ = nh.advertise<geometry_msgs::Twist>("cmd_vel", 1); |
| 13 | global_planner_client_.waitForServer(); |
| 14 | ROS_INFO("Global planer server start!"); |
| 15 | local_planner_client_.waitForServer(); |
| 16 | ROS_INFO("Local planer server start!"); |
| 17 | } |
| 18 | |
| 19 | void ChassisExecutor::Execute(const geometry_msgs::PoseStamped &goal){ |
| 20 | execution_mode_ = ExcutionMode::GOAL_MODE; |
nothing calls this directly
no outgoing calls
no test coverage detected