[Enhancement] - Refactor Akushon

src/action_main.cpp

@@ -35,14 +35,22 @@ using namespace std::chrono_literals;
 int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
+
+  const char * help_message = 
+    "Usage: ros2 run akushon action <path> <action_name>\n"
+    "  <path>        Path to the action configuration file\n"
+    "  <action_name> Name of the action to run\n";
 
-  if (argc < 2) {
-    std::cerr << "Please specify the path!" << std::endl;
+
+  if (argc < 3) {
+    std::cerr << "Bad arguments!\n";
+    std::cerr << help_message;
     return 0;
   }
 
   auto action_manager = std::make_shared<akushon::ActionManager>();
   std::string path = argv[1];
+  std::string action_name = argv[2];
   action_manager->load_config(path);
 
   auto node = std::make_shared<rclcpp::Node>("akushon_node");
@@ -51,7 +59,7 @@ int main(int argc, char * argv[])
   rclcpp::Rate rcl_rate(8ms);
   int time = 0;
 
-  if (action_node->start(akushon::ActionName::WALKREADY)) {
+  if (action_node->start(action_name)) {
     while (rclcpp::ok()) {
       rcl_rate.sleep();
 

src/akushon/action/model/action_name.cpp

@@ -41,7 +41,7 @@ const char * ActionName::WALKREADY = "walk_ready";
 const char * ActionName::SIT_DOWN = "sit_down";
 const char * ActionName::FORWARD_UP = "forward_up";
 const char * ActionName::BACKWARD_UP = "backward_up";
-const char * ActionName::LEFTWARD_UP = "leftward_ups";
+const char * ActionName::LEFTWARD_UP = "leftward_up";
 const char * ActionName::RIGHTWARD_UP = "rightward_up";
 const char * ActionName::RIGHT_KICK = "right_kick";
 const char * ActionName::LEFT_KICK = "left_kick";