| 17 | } |
| 18 | |
| 19 | void ChassisExecutor::Execute(const geometry_msgs::PoseStamped &goal){ |
| 20 | execution_mode_ = ExcutionMode::GOAL_MODE; |
| 21 | global_planner_goal_.goal = goal; |
| 22 | global_planner_client_.sendGoal(global_planner_goal_, |
| 23 | GlobalActionClient::SimpleDoneCallback(), |
| 24 | GlobalActionClient::SimpleActiveCallback(), |
| 25 | boost::bind(&ChassisExecutor::GlobalPlannerFeedbackCallback, this, _1)); |
| 26 | } |
| 27 | |
| 28 | void ChassisExecutor::Execute(const geometry_msgs::Twist &twist){ |
| 29 | if( execution_mode_ == ExcutionMode::GOAL_MODE){ |
nothing calls this directly
no outgoing calls
no test coverage detected