util.hpp

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#ifndef AIKIDO_CONTROL_ROS_COMMON_HPP_
#define AIKIDO_CONTROL_ROS_COMMON_HPP_
 
#include <chrono>
 
#include <actionlib/client/action_client.h>
#include <ros/callback_queue.h>
#include <ros/ros.h>
 
namespace aikido {
namespace control {
namespace ros {
 
template <class ActionSpec, class TimeoutDuration, class PeriodDuration>
bool waitForActionServer(
    actionlib::ActionClient<ActionSpec>& actionClient,
    ::ros::CallbackQueue& callbackQueue,
    TimeoutDuration timeoutDuration = std::chrono::milliseconds{1000},
    PeriodDuration periodDuration = std::chrono::milliseconds{10});
 
} // namespace ros
} // namespace control
} // namespace aikido
 
#include "detail/util-impl.hpp"
 
#endif // AIKIDO_CONTROL_ROS_COMMON_HPP_