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action executor v0.0.1

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This commit is contained in:
acki
2025-05-14 22:35:27 -04:00
parent 10f865364a
commit da639355ab
1 changed files with 8 additions and 8 deletions
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16
src/modelec_strat/src/action_executor.cpp
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@@ -13,17 +13,17 @@ namespace Modelec
relay_get_pub_ = node_->create_publisher<modelec_interfaces::msg::ActionRelayState>("/action/get/relay", 10);
asc_get_res_sub_ = node_->create_subscription<modelec_interfaces::msg::ActionAscPos>(
"/action/get/asc/res", 10, [this](const modelec_interfaces::msg::ActionAscPos::SharedPtr msg)
"/action/get/asc/res", 10, [this](const modelec_interfaces::msg::ActionAscPos::SharedPtr)
{
});
servo_get_res_sub_ = node_->create_subscription<modelec_interfaces::msg::ActionServoPos>(
"/action/get/servo/res", 10, [this](const modelec_interfaces::msg::ActionServoPos::SharedPtr msg)
"/action/get/servo/res", 10, [this](const modelec_interfaces::msg::ActionServoPos::SharedPtr)
{
});
relay_get_res_sub_ = node_->create_subscription<modelec_interfaces::msg::ActionRelayState>(
"/action/get/relay/res", 10, [this](const modelec_interfaces::msg::ActionRelayState::SharedPtr msg)
"/action/get/relay/res", 10, [this](const modelec_interfaces::msg::ActionRelayState::SharedPtr)
{
});
@@ -31,12 +31,12 @@ namespace Modelec
servo_set_pub_ = node_->create_publisher<modelec_interfaces::msg::ActionServoPos>("/action/set/servo", 10);
asc_set_res_sub_ = node_->create_subscription<modelec_interfaces::msg::ActionAscPos>(
"/action/set/asc/res", 10, [this](const modelec_interfaces::msg::ActionAscPos::SharedPtr msg)
"/action/set/asc/res", 10, [this](const modelec_interfaces::msg::ActionAscPos::SharedPtr)
{
});
servo_set_res_sub_ = node_->create_subscription<modelec_interfaces::msg::ActionServoPos>(
"/action/set/servo/res", 10, [this](const modelec_interfaces::msg::ActionServoPos::SharedPtr msg)
"/action/set/servo/res", 10, [this](const modelec_interfaces::msg::ActionServoPos::SharedPtr)
{
});
@@ -45,21 +45,21 @@ namespace Modelec
relay_move_pub_ = node_->create_publisher<modelec_interfaces::msg::ActionRelayState>("/action/move/relay", 10);
asc_move_res_sub_ = node_->create_subscription<modelec_interfaces::msg::ActionAscPos>(
"/action/move/asc/res", 10, [this](const modelec_interfaces::msg::ActionAscPos::SharedPtr msg)
"/action/move/asc/res", 10, [this](const modelec_interfaces::msg::ActionAscPos::SharedPtr)
{
step_done_ = true;
Update();
});
servo_move_res_sub_ = node_->create_subscription<modelec_interfaces::msg::ActionServoPos>(
"/action/move/servo/res", 10, [this](const modelec_interfaces::msg::ActionServoPos::SharedPtr msg)
"/action/move/servo/res", 10, [this](const modelec_interfaces::msg::ActionServoPos::SharedPtr)
{
step_done_ = true;
Update();
});
relay_move_res_sub_ = node_->create_subscription<modelec_interfaces::msg::ActionRelayState>(
"/action/move/relay/res", 10, [this](const modelec_interfaces::msg::ActionRelayState::SharedPtr msg)
"/action/move/relay/res", 10, [this](const modelec_interfaces::msg::ActionRelayState::SharedPtr)
{
step_done_ = true;
Update();