| 43 | } |
| 44 | |
| 45 | BehaviorState ChassisExecutor::Update(){ |
| 46 | actionlib::SimpleClientGoalState state = actionlib::SimpleClientGoalState::LOST; |
| 47 | switch (execution_mode_){ |
| 48 | case ExcutionMode::IDLE_MODE: |
| 49 | execution_state_ = BehaviorState::IDLE; |
| 50 | break; |
| 51 | |
| 52 | case ExcutionMode::GOAL_MODE: |
| 53 | state = global_planner_client_.getState(); |
| 54 | if (state == actionlib::SimpleClientGoalState::ACTIVE){ |
| 55 | ROS_INFO("%s : ACTIVE", __FUNCTION__); |
| 56 | execution_state_ = BehaviorState::RUNNING; |
| 57 | |
| 58 | } else if (state == actionlib::SimpleClientGoalState::PENDING) { |
| 59 | ROS_INFO("%s : PENDING", __FUNCTION__); |
| 60 | execution_state_ = BehaviorState::RUNNING; |
| 61 | |
| 62 | } else if (state == actionlib::SimpleClientGoalState::SUCCEEDED) { |
| 63 | ROS_INFO("%s : SUCCEEDED", __FUNCTION__); |
| 64 | execution_state_ = BehaviorState::SUCCESS; |
| 65 | |
| 66 | } else if (state == actionlib::SimpleClientGoalState::ABORTED) { |
| 67 | ROS_INFO("%s : ABORTED", __FUNCTION__); |
| 68 | execution_state_ = BehaviorState::FAILURE; |
| 69 | |
| 70 | } else { |
| 71 | ROS_ERROR("Error: %s", state.toString().c_str()); |
| 72 | execution_state_ = BehaviorState::FAILURE; |
| 73 | } |
| 74 | break; |
| 75 | |
| 76 | case ExcutionMode::SPEED_MODE: |
| 77 | execution_state_ = BehaviorState::RUNNING; |
| 78 | break; |
| 79 | |
| 80 | case ExcutionMode::SPEED_WITH_ACCEL_MODE: |
| 81 | execution_state_ = BehaviorState::RUNNING; |
| 82 | break; |
| 83 | |
| 84 | default: |
| 85 | ROS_ERROR("Wrong Execution Mode"); |
| 86 | } |
| 87 | return execution_state_; |
| 88 | |
| 89 | }; |
| 90 | |
| 91 | void ChassisExecutor::Cancel(){ |
| 92 | switch (execution_mode_){ |