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Add last dangling changes before humble merge

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This commit is contained in:
yenon
2022-11-22 10:05:06 +01:00
parent 6b650fe594
commit 9c0c189a23
4 changed files with 215 additions and 29 deletions
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18
src/ign_actor_plugin/src/ActorSystem.cpp
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@@ -8,6 +8,9 @@
#define AnimationGoalPtr const std::shared_ptr<const ign_actor_plugin::action::Animation::Goal>
#define AnimationServerGoalPtr const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Animation>>&
#define MovementGoalPtr const std::shared_ptr<const ign_actor_plugin::action::Movement::Goal>
#define MovementServerGoalPtr const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Movement>>&
IGNITION_ADD_PLUGIN(
ActorSystem,
ignition::gazebo::System,
@@ -41,8 +44,6 @@ void ActorSystem::Configure(const ignition::gazebo::Entity &_entity, const std::
node = rclcpp::Node::make_shared("moveService", topic);
#pragma clang diagnostic push
#pragma ide diagnostic ignored "UnusedValue"
animationServer = rclcpp_action::create_server<ign_actor_plugin::action::Animation>(
node,
"animation",
@@ -58,12 +59,17 @@ void ActorSystem::Configure(const ignition::gazebo::Entity &_entity, const std::
}
);
movementServer rclcpp_action::create_server<ign_actor_plugin::action::Movement>(
movementServer = rclcpp_action::create_server<ign_actor_plugin::action::Movement>(
node,
"movement",
[](rclcpp_action::GoalUUID goalUuid, )
)
#pragma clang diagnostic pop
[](rclcpp_action::GoalUUID goalUuid, MovementGoalPtr &movementGoal ){
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
},
[](MovementServerGoalPtr goalUuid ){
return rclcpp_action::CancelResponse::ACCEPT;
},
[](MovementServerGoalPtr goalUuid ){}
);
printf("Spinning node...\n");
std::thread spinThread([this]() {