int main(int argc, char** argv) { //initialize the node ros::init(argc, argv, "message_delivery"); ros::NodeHandle privateNode("~"); privateNode.param<std::string>("location",location, /*default*/ ""); privateNode.param<std::string>("message",message,""); privateNode.param<int32_t>("speed",speed,160); privateNode.param<std::string>("voice",voice,"default"); privateNode.param<int32_t>("pitch",pitch,50); if (location.compare("") != 0) { goToLocation(); deliverMessage(); } }
/** * Request robot to move back to its home location */ void MedicationRobot::goToHome(const std_msgs::Empty) { goToLocation(homePoi.getLocation()); currentLocationState = GOING_HOME; }
/** * Request robot to start moving towards the Resident */ void MedicationRobot::goToResident(const std_msgs::Empty) { ROS_INFO("MedicationRobot: Going to %f, %f", residentPoi.getLocation().x, residentPoi.getLocation().y); goToLocation(residentPoi.getLocation(), true); currentLocationState = GOING_TO_RESIDENT; }