65 lines
2.3 KiB
C++
65 lines
2.3 KiB
C++
#include "behaviortree_ros2/bt_service_node.hpp"
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#include "behaviortree_ros2/plugins.hpp"
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#include <behaviortree_cpp/basic_types.h>
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// #include <geometry_msgs/msg/detail/point__struct.hpp>
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#include "rbs_skill_interfaces/srv/get_pick_place_poses.hpp"
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#include "rbs_utils_interfaces/srv/get_named_pose.hpp"
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#include <geometry_msgs/msg/detail/pose__struct.hpp>
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#include <geometry_msgs/msg/detail/pose_array__struct.hpp>
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#include <geometry_msgs/msg/detail/quaternion__struct.hpp>
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#include <memory>
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#include <rclcpp/logging.hpp>
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#include <string>
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using GetNamedPoseService = rbs_utils_interfaces::srv::GetNamedPose;
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using namespace BT;
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class GetNamedPose : public RosServiceNode<GetNamedPoseService> {
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public:
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GetNamedPose(const std::string &name, const NodeConfig &conf,
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const RosNodeParams ¶ms)
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: RosServiceNode<GetNamedPoseService>(name, conf, params) {
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RCLCPP_INFO(this->logger(), "Starting GetGraspPose");
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}
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static PortsList providedPorts() {
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return providedBasicPorts(
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{InputPort<std::string>("pose_name"),
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OutputPort<std::shared_ptr<geometry_msgs::msg::Pose>>("output_pose")});
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}
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bool setRequest(Request::SharedPtr &request) override {
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RCLCPP_INFO(this->logger(), "[%s] Starting send request for: [%s]",
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name().c_str(), this->service_name_.c_str());
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if (!getInput("pose_name", request->pose_name)) {
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RCLCPP_ERROR(this->node_.lock()->get_logger(),
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"[%s] Failed to get pose_name from input port",
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name().c_str());
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return false;
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}
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return true;
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}
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NodeStatus onResponseReceived(const Response::SharedPtr &response) override {
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if (!response->ok) {
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RCLCPP_ERROR(this->logger(), "[%s] Response indicates failure.",
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name().c_str());
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return NodeStatus::FAILURE;
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}
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RCLCPP_INFO(this->logger(),
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"[%s] Response received successfully with pose name [%s]",
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name().c_str(), response->named_pose.name.c_str());
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auto pose = std::make_shared<geometry_msgs::msg::Pose>();
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*pose = response->named_pose.pose;
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setOutput("output_pose", pose);
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return NodeStatus::SUCCESS;
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}
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// virtual NodeStatus onFailure(ServiceNodeErrorCode error) override {}
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};
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CreateRosNodePlugin(GetNamedPose, "GetNamedPose");
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