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Commit 1cf7e7ad authored by Ernesto Corbellini's avatar Ernesto Corbellini
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Added a test server.

parent 2e5a9e83
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package com.github.ekumen.rosjava_actionlib;
import java.util.List;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.internal.message.Message;
import actionlib_tutorials.FibonacciActionGoal;
import actionlib_tutorials.FibonacciActionFeedback;
import actionlib_tutorials.FibonacciActionResult;
import actionlib_tutorials.FibonacciGoal;
import actionlib_tutorials.FibonacciFeedback;
import actionlib_tutorials.FibonacciResult;
import actionlib_msgs.GoalStatusArray;
import actionlib_msgs.GoalID;
import actionlib_msgs.GoalStatus;
public class TestServer extends AbstractNodeMain implements ActionServerListener<FibonacciActionGoal> {
private ActionServer<FibonacciActionGoal, FibonacciActionFeedback, FibonacciActionResult> as = null;
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("fibonacci_test_server");
}
@Override
public void onStart(ConnectedNode node) {
as = new ActionServer<FibonacciActionGoal, FibonacciActionFeedback,
FibonacciActionResult>(node, "/fibonacci", FibonacciActionGoal._TYPE,
FibonacciActionFeedback._TYPE, FibonacciActionResult._TYPE);
}
@Override
public void goalReceived(FibonacciActionGoal goal) {
System.out.println("Goal received.");
}
@Override
public void cancelReceived(GoalID id) {
System.out.println("Cancel received.");
}
}
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