wrench_action_server.hpp

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#ifndef _WRENCH_ACTION_SERVER_HPP
#define _WRENCH_ACTION_SERVER_HPP
 
#include <geometry_msgs/msg/wrench_stamped.hpp>
#include <wrench_action_sample_msgs/action/wrench.hpp>
 
#include "rclcpp_action/rclcpp_action.hpp"
 
class WrenchActionServer : public rclcpp::Node
{
public:
  using Wrench = wrench_action_sample_msgs::action::Wrench;
  using GoalHandleApplyWrench = rclcpp_action::ServerGoalHandle<Wrench>;
  using WrenchMsg = geometry_msgs::msg::WrenchStamped;
 
  explicit WrenchActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
private:
  rclcpp_action::Server<Wrench>::SharedPtr action_server_;
  rclcpp::Publisher<WrenchMsg>::SharedPtr publisher_;
 
  rclcpp_action::GoalResponse handle_goal(
    const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const Wrench::Goal> goal);
 
  rclcpp_action::CancelResponse handle_cancel(
    const std::shared_ptr<GoalHandleApplyWrench> goal_handle);
 
  void handle_accepted(const std::shared_ptr<GoalHandleApplyWrench> goal_handle);
 
  void execute(const std::shared_ptr<GoalHandleApplyWrench> goal_handle);
};
 
#endif  // WRENCH_ACTION_SERVER_HPP_