clear_costmap_service.hpp

// Copyright (c) 2019 Samsung Research America
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__CLEAR_COSTMAP_SERVICE_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__CLEAR_COSTMAP_SERVICE_HPP_
 
#include <string>
 
#include "nav2_behavior_tree/bt_service_node.hpp"
#include "nav2_msgs/srv/clear_entire_costmap.hpp"
#include "nav2_msgs/srv/clear_costmap_around_robot.hpp"
#include "nav2_msgs/srv/clear_costmap_around_pose.hpp"
#include "nav2_msgs/srv/clear_costmap_except_region.hpp"
 
namespace nav2_behavior_tree
{
 
class ClearEntireCostmapService : public BtServiceNode<nav2_msgs::srv::ClearEntireCostmap>
{
public:
  ClearEntireCostmapService(
    const std::string & service_node_name,
    const BT::NodeConfiguration & conf);
 
  void on_tick() override;
};
 
class ClearCostmapExceptRegionService
  : public BtServiceNode<nav2_msgs::srv::ClearCostmapExceptRegion>
{
public:
  ClearCostmapExceptRegionService(
    const std::string & service_node_name,
    const BT::NodeConfiguration & conf);
 
  void on_tick() override;
 
  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {
        BT::InputPort<double>(
          "reset_distance", 1,
          "Distance from the robot above which obstacles are cleared")
      });
  }
};
 
class ClearCostmapAroundRobotService : public BtServiceNode<nav2_msgs::srv::ClearCostmapAroundRobot>
{
public:
  ClearCostmapAroundRobotService(
    const std::string & service_node_name,
    const BT::NodeConfiguration & conf);
 
  void on_tick() override;
 
  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {
        BT::InputPort<double>(
          "reset_distance", 1,
          "Distance from the robot under which obstacles are cleared")
      });
  }
};
 
class ClearCostmapAroundPoseService : public BtServiceNode<nav2_msgs::srv::ClearCostmapAroundPose>
{
public:
  ClearCostmapAroundPoseService(
    const std::string & service_node_name,
    const BT::NodeConfiguration & conf);
 
  void on_tick() override;
 
  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {
        BT::InputPort<geometry_msgs::msg::PoseStamped>(
          "pose", "Pose around which to clear the costmap"),
        BT::InputPort<double>(
          "reset_distance", 1.0,
          "Distance from the pose under which obstacles are cleared")
      });
  }
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__CLEAR_COSTMAP_SERVICE_HPP_