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Fix for #43 #59

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Fix for #43 #59

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5 changes: 5 additions & 0 deletions locomotor/include/locomotor/locomotor_action_server.h
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
namespace locomotor
{
using NewGoalCallback = std::function<void (const nav_2d_msgs::Pose2DStamped&)>;
using PreemptionCallback = std::function<void ()>;

class LocomotorActionServer
{
Expand All @@ -51,12 +52,16 @@ class LocomotorActionServer
void publishFeedback(const locomotor_msgs::NavigationState& nav_state);
void completeNavigation();
void failNavigation(const locomotor_msgs::ResultCode& result_code);

// Note: This is a separate method so as not to change the previous constructor parameter list
void setPremptionCallback(PreemptionCallback cb) { preemption_cb_ = cb; }
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I'd recommend just having a virtual void onPreemption() {} method that the user can override.

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In which class?

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In this one. Rather than setting a callback functor, you can just let the user override the onPreemption method if they want to trigger some callback. These 2 actions will have equal output.

protected:
void preGoalCallback();
void preemptCallback();
actionlib::SimpleActionServer<locomotor_msgs::NavigateToPoseAction> navigate_action_server_;
locomotor_msgs::NavigateToPoseFeedback feedback_;
NewGoalCallback goal_cb_;
PreemptionCallback preemption_cb_;
};
} // namespace locomotor

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1 change: 1 addition & 0 deletions locomotor/src/locomotor_action_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,7 @@ void LocomotorActionServer::preGoalCallback()
void LocomotorActionServer::preemptCallback()
{
if (!navigate_action_server_.isActive()) return;
if (preemption_cb_) preemption_cb_();
locomotor_msgs::NavigateToPoseResult result;
result.result_code.result_code = -1;
result.result_code.message = "Preempted.";
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