add turtlesim action

CMakeLists.txt

@@ -23,6 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 set(gologpp_action_pkgs
+	turtle_actionlib
 	darknet_action_msgs
 	naoqi_wrapper_msgs
 	naoqi_bridge_msgs

package.xml

@@ -56,6 +56,7 @@
   <depend>naoqi_wrapper_msgs</depend>
   <depend>naoqi_bridge_msgs</depend>
   <depend>darknet_action_msgs</depend>
+  <depend>turtle_actionlib</depend>
   <depend>move_base_msgs</depend>
   <depend>opencv_apps_action_msgs</depend>
 

src/actions/gologpp_turtle_actionlib.cpp

@@ -0,0 +1,22 @@
+#include "action_manager.h"
+#include "exog_manager.h"
+#include "ros_backend.h"
+
+#include <execution/controller.h>
+
+#include <turtle_actionlib/ShapeAction.h>
+
+
+template<>
+ActionManager<turtle_actionlib::ShapeAction>::GoalT
+ActionManager<turtle_actionlib::ShapeAction>::build_goal(const gpp::Activity &a)
+{
+	turtle_actionlib::ShapeGoal goal;
+	goal.edges = a.mapped_arg_value("edges").numeric_convert<int>();
+	goal.radius = a.mapped_arg_value("radius").numeric_convert<float>();
+	return goal;
+}
+
+
+void RosBackend::define_turtle_actions()
+{ create_ActionManager<turtle_actionlib::ShapeAction>("turtle_shape"); }

src/ros_backend.h

@@ -50,14 +50,13 @@ class RosBackend : public gologpp::PlatformBackend
 private:
 	virtual void terminate_() override;
 
-	// Implemented in pepper_actions.cpp:
-	// Fill action_containers_ by calling define_action_client for
-	// each action that should be made available.
+	// May have an implementation iff the corresponding package has been found
 	void define_naoqi_wrapper_actions();
 	void define_move_base_actions();
 	void define_darknet_actions();
 	void define_naoqi_bridge_actions();
 	void define_opencv_apps_actions();
+	void define_turtle_actions();
 
 	template<class ActionT>
 	void create_ActionManager(const std::string &name);