compute_route_action.hpp

// Copyright (c) 2025 Open Navigation LLC
//
// 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__COMPUTE_ROUTE_ACTION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__COMPUTE_ROUTE_ACTION_HPP_
 
#include <string>
 
#include "nav2_msgs/action/compute_route.hpp"
#include "nav_msgs/msg/path.h"
#include "nav2_behavior_tree/bt_action_node.hpp"
#include "nav2_util/lifecycle_node.hpp"
 
namespace nav2_behavior_tree
{
 
class ComputeRouteAction : public BtActionNode<nav2_msgs::action::ComputeRoute>
{
  using Action = nav2_msgs::action::ComputeRoute;
  using ActionResult = Action::Result;
 
public:
  ComputeRouteAction(
    const std::string & xml_tag_name,
    const std::string & action_name,
    const BT::NodeConfiguration & conf);
 
  void on_tick() override;
 
  BT::NodeStatus on_success() override;
 
  BT::NodeStatus on_aborted() override;
 
  BT::NodeStatus on_cancelled() override;
 
  void halt() override;
 
  void resetPorts();
 
  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {
        BT::InputPort<unsigned int>("start_id", "ID of the start node"),
        BT::InputPort<unsigned int>("goal_id", "ID of the goal node"),
        BT::InputPort<geometry_msgs::msg::PoseStamped>(
          "start",
          "Start pose of the path if overriding current robot pose and using poses over IDs"),
        BT::InputPort<geometry_msgs::msg::PoseStamped>(
          "goal", "Goal pose of the path if using poses over IDs"),
        BT::InputPort<bool>(
          "use_start", false,
          "Whether to use the start pose or the robot's current pose"),
        BT::InputPort<bool>(
          "use_poses", false, "Whether to use poses or IDs for start and goal"),
        BT::OutputPort<ActionResult::_route_type>(
          "route", "The route computed by ComputeRoute node"),
        BT::OutputPort<builtin_interfaces::msg::Duration>(
          "planning_time",
          "Time taken to compute route"),
        BT::OutputPort<nav_msgs::msg::Path>("path", "Path created by ComputeRoute node"),
      });
  }
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__COMPUTE_ROUTE_ACTION_HPP_