are_poses_near_condition.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__CONDITION__ARE_POSES_NEAR_CONDITION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__ARE_POSES_NEAR_CONDITION_HPP_
 
#include <string>
#include <memory>
 
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "tf2_ros/buffer.h"
#include "behaviortree_cpp/condition_node.h"
#include "nav2_util/robot_utils.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"
 
namespace nav2_behavior_tree
{
 
class ArePosesNearCondition : public BT::ConditionNode
{
public:
  ArePosesNearCondition(
    const std::string & condition_name,
    const BT::NodeConfiguration & conf);
 
  ArePosesNearCondition() = delete;
 
  ~ArePosesNearCondition() override = default;
 
  BT::NodeStatus tick() override;
 
  void initialize();
 
  bool arePosesNearby();
 
  static BT::PortsList providedPorts()
  {
    return {
      BT::InputPort<geometry_msgs::msg::PoseStamped>("ref_pose", "Destination"),
      BT::InputPort<geometry_msgs::msg::PoseStamped>("target_pose", "Destination"),
      BT::InputPort<std::string>("global_frame", "Global frame"),
      BT::InputPort<double>("tolerance", 0.5, "Tolerance")
    };
  }
 
protected:
  rclcpp::Node::SharedPtr node_;
  std::shared_ptr<tf2_ros::Buffer> tf_;
  double transform_tolerance_;
  std::string global_frame_;
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__ARE_POSES_NEAR_CONDITION_HPP_