dock_robot.hpp

// Copyright (c) 2024 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 OPENNAV_DOCKING_BT__DOCK_ROBOT_HPP_
#define OPENNAV_DOCKING_BT__DOCK_ROBOT_HPP_
 
#include <string>
#include <memory>
#include <vector>
 
#include "nav2_msgs/action/dock_robot.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_behavior_tree/bt_action_node.hpp"
 
namespace opennav_docking_bt
{
 
class DockRobotAction
  : public nav2_behavior_tree::BtActionNode<
    nav2_msgs::action::DockRobot>
{
  using Action = nav2_msgs::action::DockRobot;
  using ActionResult = Action::Result;
 
public:
  DockRobotAction(
    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 on_timeout() override;
 
  void halt() override;
 
  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {
        BT::InputPort<bool>(
          "use_dock_id", true,
          "Whether to use the dock's ID or dock pose fields"),
        BT::InputPort<std::string>("dock_id", "Dock ID or name to use"),
        BT::InputPort<geometry_msgs::msg::PoseStamped>(
          "dock_pose", "The dock pose, if not using dock id"),
        BT::InputPort<std::string>("dock_type", "The dock plugin type, if using dock pose"),
        BT::InputPort<float>(
          "max_staging_time", 1000.0, "Maximum time to navigate to the staging pose"),
        BT::InputPort<bool>(
          "navigate_to_staging_pose", true, "Whether to autonomously navigate to staging pose"),
 
        BT::OutputPort<ActionResult::_success_type>(
          "success", "If the action was successful"),
        BT::OutputPort<ActionResult::_error_code_type>(
          "error_code_id", "Error code"),
        BT::OutputPort<std::string>(
          "error_msg", "Error message"),
        BT::OutputPort<ActionResult::_num_retries_type>(
          "num_retries", "The number of retries executed"),
      });
  }
};
 
}  // namespace opennav_docking_bt
 
#endif  // OPENNAV_DOCKING_BT__DOCK_ROBOT_HPP_