24 lines
No EOL
630 B
C++
24 lines
No EOL
630 B
C++
#ifndef CONTROLS_H
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#define CONTROLS_H
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp_action/rclcpp_action.hpp"
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#include "irobot_create_msgs/msg/interface_buttons.hpp"
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#include "irobot_create_msgs/msg/lightring_leds.hpp"
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class ButtonPressNode : public rclcpp::Node
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{
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public:
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ButtonPressNode();
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void bt1_wait();
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void bt2_wait();
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void kill();
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private:
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void result_callback(const irobot_create_msgs::msg::InterfaceButtons::SharedPtr result);
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rclcpp::Subscription<irobot_create_msgs::msg::InterfaceButtons>::SharedPtr interface_buttons_subscriber_;
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bool button1{false};
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bool button2{false};
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};
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#endif |