#!/usr/bin/env python3
"""MoveTo action server - moves robot using MTC."""
from hello_orchestrator_py.base_action_server import BaseActionServer, run_server
from hello_orchestrator_py.stages.move_stages import MoveStages
from hello_orchestrator_py_interfaces.action import MoveToNamedState
class MoveActionServer(BaseActionServer):
"""Action server for MoveTo operations using MTC."""
def __init__(self):
super().__init__(
node_name="move_server_py",
action_name="move_to_named_state_py",
action_type=MoveToNamedState,
)
def initialize_stages(self):
self._stages = MoveStages(self)
def main(args=None):
run_server(MoveActionServer, args)
if __name__ == '__main__':
main()