ConnectionMonitor connectionMonitor; // Have to destroy subscribers and publishers before the connectionMonitor, since we call callbacks in the connectionMonitor
/**
* \brief Simple constructor
*
* Constructs an ActionClient and sets up the necessary ros topics for the ActionInterface
* \param name The action name. Defines the namespace in which the action communicates
* \param queue CallbackQueue from which this action will process messages.
* The default (NULL) is to use the global queue
*/
public ActionClient(string name, CallbackQueueInterface queue = null)
{
nodeHandle = new NodeHandle(name);
guard_ = new DestructionGuard();
goalManager = new GoalManager <ActionSpec> (guard_);
initClient(queue);
}
public ClientGoalHandle(GoalManager <ActionSpec> gm, ManagedList <CommStateMachine <ActionSpec> > .Handle handle, DestructionGuard guard)
{
this.goalManager = gm;
this.isActive = true;
this.listHandle = handle;
this.guard = guard;
}
public GoalManager(DestructionGuard guard)
{
this.guard = guard;
}
/**
* @brief Constructor for a ScopedProtector
* @param guard The DestructionGuard to protect
*/
public ScopedProtector(DestructionGuard guard)
{
this.guard = guard;
protectd = this.guard.tryProtect();
}