navigate_to_pose_action.cpp

// Copyright (c) 2018 Intel Corporation
//
// 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 <memory>
#include <string>
 
#include "nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp"
 
namespace nav2_behavior_tree
{
 
NavigateToPoseAction::NavigateToPoseAction(
  const std::string & xml_tag_name,
  const std::string & action_name,
  const BT::NodeConfiguration & conf)
: BtActionNode<Action>(xml_tag_name, action_name, conf)
{}
 
void NavigateToPoseAction::on_tick()
{
  if (!getInput("goal", goal_.pose)) {
    RCLCPP_ERROR(
      node_->get_logger(),
      "NavigateToPoseAction: goal not provided");
    return;
  }
  getInput("behavior_tree", goal_.behavior_tree);
}
 
BT::NodeStatus NavigateToPoseAction::on_success()
{
  setOutput("error_code_id", ActionResult::NONE);
  setOutput("error_msg", "");
  return BT::NodeStatus::SUCCESS;
}
 
BT::NodeStatus NavigateToPoseAction::on_aborted()
{
  setOutput("error_code_id", result_.result->error_code);
  setOutput("error_msg", result_.result->error_msg);
  return BT::NodeStatus::FAILURE;
}
 
BT::NodeStatus NavigateToPoseAction::on_cancelled()
{
  // Set empty error code, action was cancelled
  setOutput("error_code_id", ActionResult::NONE);
  setOutput("error_msg", "");
  return BT::NodeStatus::SUCCESS;
}
 
void NavigateToPoseAction::on_timeout()
{
  setOutput("error_code_id", ActionResult::TIMEOUT);
  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
}
 
}  // namespace nav2_behavior_tree
 
#include "behaviortree_cpp/bt_factory.h"
BT_REGISTER_NODES(factory)
{
  BT::NodeBuilder builder =
    [](const std::string & name, const BT::NodeConfiguration & config)
    {
      return std::make_unique<nav2_behavior_tree::NavigateToPoseAction>(
        name, "navigate_to_pose", config);
    };
 
  factory.registerBuilder<nav2_behavior_tree::NavigateToPoseAction>(
    "NavigateToPose", builder);
}