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;
}
