wait.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_BEHAVIORS__PLUGINS__WAIT_HPP_
#define NAV2_BEHAVIORS__PLUGINS__WAIT_HPP_
 
#include <chrono>
#include <string>
#include <memory>
 
#include "nav2_behaviors/timed_behavior.hpp"
#include "nav2_msgs/action/wait.hpp"
 
namespace nav2_behaviors
{
using WaitAction = nav2_msgs::action::Wait;
 
class Wait : public TimedBehavior<WaitAction>
{
  using CostmapInfoType = nav2_core::CostmapInfoType;
 
public:
  using WaitActionGoal = WaitAction::Goal;
 
  Wait();
  ~Wait();
 
  ResultStatus onRun(const std::shared_ptr<const WaitActionGoal> command) override;
 
  ResultStatus onCycleUpdate() override;
 
  CostmapInfoType getResourceInfo() override {return CostmapInfoType::LOCAL;}
 
protected:
  rclcpp::Time wait_end_;
  WaitAction::Feedback::SharedPtr feedback_;
};
 
}  // namespace nav2_behaviors
 
#endif  // NAV2_BEHAVIORS__PLUGINS__WAIT_HPP_