robossembler/runtime
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add env starter for BT

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This commit is contained in:
Ilya Uraev 2023-12-19 08:11:17 +03:00
parent ec0aba0b2e
commit df335c0cd0
1 changed files with 5 additions and 0 deletions
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5
env_manager/env_manager/include/env_manager/env_manager.hpp
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@ -4,6 +4,7 @@
#include "env_manager_interfaces/srv/configure_env.hpp"
#include "env_manager_interfaces/srv/load_env.hpp"
#include "env_manager_interfaces/srv/unload_env.hpp"
#include "env_manager_interfaces/srv/start_env.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
@ -62,6 +63,9 @@ public:
protected:
void initServices();
rclcpp::Node::SharedPtr getNode();
void startEnv_cb(
const env_manager_interfaces::srv::StartEnv::Request::SharedPtr request,
env_manager_interfaces::srv::StartEnv::Response::SharedPtr response);
void loadEnv_cb(
const env_manager_interfaces::srv::LoadEnv::Request::SharedPtr request,
env_manager_interfaces::srv::LoadEnv_Response::SharedPtr response);
@ -85,6 +89,7 @@ private:
m_configure_env_srv;
rclcpp::Service<env_manager_interfaces::srv::UnloadEnv>::SharedPtr
m_unload_env_srv;
rclcpp::Service<env_manager_interfaces::srv::StartEnv>::SharedPtr m_start_env_srv;
rclcpp::CallbackGroup::SharedPtr m_callback_group;
rclcpp::Executor::SharedPtr m_executor;