arci_ros/
cmd_vel_move_base.rs

1use arci::*;
2use schemars::JsonSchema;
3use serde::{Deserialize, Serialize};
4
5use crate::{msg, rosrust_utils::wait_subscriber};
6
7pub struct RosCmdVelMoveBase {
8    vel_publisher: rosrust::Publisher<msg::geometry_msgs::Twist>,
9}
10
11impl RosCmdVelMoveBase {
12    pub fn new(cmd_topic_name: &str) -> Self {
13        let vel_publisher = rosrust::publish(cmd_topic_name, 1).unwrap();
14        wait_subscriber(&vel_publisher);
15        Self { vel_publisher }
16    }
17}
18
19impl MoveBase for RosCmdVelMoveBase {
20    fn send_velocity(&self, velocity: &BaseVelocity) -> Result<(), Error> {
21        self.vel_publisher
22            .send((*velocity).into())
23            .map_err(|e| arci::Error::Connection {
24                message: format!("rosrust publish error: {e:?}"),
25            })
26    }
27
28    fn current_velocity(&self) -> Result<BaseVelocity, Error> {
29        Err(Error::Other(anyhow::Error::msg("not implemented yet")))
30    }
31}
32
33#[derive(Debug, Serialize, Deserialize, Clone, JsonSchema)]
34#[serde(deny_unknown_fields)]
35pub struct RosCmdVelMoveBaseConfig {
36    pub topic: String,
37}
arci_ros/cmd_vel_move_base.rs

arci_ros/
cmd_vel_move_base.rs
