globally_updated_goal_condition.cpp

// Copyright (c) 2021 Joshua Wallace
//
// 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.
 
#include <vector>
#include <string>
 
#include "nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp"
 
namespace nav2_behavior_tree
{
 
GloballyUpdatedGoalCondition::GloballyUpdatedGoalCondition(
  const std::string & condition_name,
  const BT::NodeConfiguration & conf)
: BT::ConditionNode(condition_name, conf),
  first_time(true)
{
  node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
}
 
BT::NodeStatus GloballyUpdatedGoalCondition::tick()
{
  if (first_time) {
    first_time = false;
    config().blackboard->get<std::vector<geometry_msgs::msg::PoseStamped>>("goals", goals_);
    config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal", goal_);
    return BT::NodeStatus::SUCCESS;
  }
 
  std::vector<geometry_msgs::msg::PoseStamped> current_goals;
  config().blackboard->get<std::vector<geometry_msgs::msg::PoseStamped>>("goals", current_goals);
  geometry_msgs::msg::PoseStamped current_goal;
  config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal", current_goal);
 
  if (goal_ != current_goal || goals_ != current_goals) {
    goal_ = current_goal;
    goals_ = current_goals;
    return BT::NodeStatus::SUCCESS;
  }
 
  return BT::NodeStatus::FAILURE;
}
 
}  // namespace nav2_behavior_tree
 
#include "behaviortree_cpp_v3/bt_factory.h"
BT_REGISTER_NODES(factory)
{
  factory.registerNodeType<nav2_behavior_tree::GloballyUpdatedGoalCondition>("GlobalUpdatedGoal");
}