rebuild move logic

rasms_manipulator/src/assemble_action_node.cpp

@@ -1,68 +0,0 @@
-// Copyright 2019 Intelligent Robotics Lab
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <memory>
-#include <algorithm>
-
-#include "plansys2_executor/ActionExecutorClient.hpp"
-
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
-
-using namespace std::chrono_literals;
-
-class AssembleAction : public plansys2::ActionExecutorClient
-{
-public:
-  AssembleAction()
-  : plansys2::ActionExecutorClient("assemble", 500ms)
-  {
-    progress_ = 0.0;
-  }
-
-private:
-  void do_work()
-  {
-    if (progress_ < 1.0) {
-      progress_ += 0.05;
-      send_feedback(progress_, "Assemble running");
-    } else {
-      finish(true, 1.0, "Assemble completed");
-
-      progress_ = 0.0;
-      std::cout << std::endl;
-    }
-
-    std::cout << "\r\e[K" << std::flush;
-    std::cout << "Assemble ... [" << std::min(100.0, progress_ * 100.0) << "%]  " <<
-      std::flush;
-  }
-
-  float progress_;
-};
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  auto node = std::make_shared<AssembleAction>();
-
-  node->set_parameter(rclcpp::Parameter("action_name", "assemble"));
-  node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
-
-  rclcpp::spin(node->get_node_base_interface());
-
-  rclcpp::shutdown();
-
-  return 0;
-}