get_current_pose_action.cpp

// 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.
 
#include "nav2_behavior_tree/plugins/action/get_current_pose_action.hpp"
 
namespace nav2_behavior_tree
{
 
GetCurrentPoseAction::GetCurrentPoseAction(
  const std::string & xml_tag_name,
  const BT::NodeConfiguration & conf)
: BT::ActionNodeBase(xml_tag_name, conf)
{
  auto node = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
  tf_ = config().blackboard->get<std::shared_ptr<tf2_ros::Buffer>>("tf_buffer");
  node->get_parameter("transform_tolerance", transform_tolerance_);
  global_frame_ = BT::deconflictPortAndParamFrame<std::string>(
    node, "global_frame", this);
  robot_base_frame_ = BT::deconflictPortAndParamFrame<std::string>(
    node, "robot_base_frame", this);
}
 
BT::NodeStatus GetCurrentPoseAction::tick()
{
  setStatus(BT::NodeStatus::RUNNING);
  geometry_msgs::msg::PoseStamped current_pose;
 
  if (!nav2_util::getCurrentPose(
      current_pose, *tf_, global_frame_, robot_base_frame_, transform_tolerance_))
  {
    RCLCPP_WARN(
      config().blackboard->get<rclcpp::Node::SharedPtr>("node")->get_logger(),
      "Current robot pose is not available.");
    return BT::NodeStatus::FAILURE;
  }
 
  setOutput("current_pose", current_pose);
  return BT::NodeStatus::SUCCESS;
}
 
}  // namespace nav2_behavior_tree
 
#include "behaviortree_cpp/bt_factory.h"
BT_REGISTER_NODES(factory)
{
  factory.registerNodeType<nav2_behavior_tree::GetCurrentPoseAction>("GetCurrentPose");
}