wait_at_waypoint.hpp

// Copyright (c) 2020 Fetullah Atas
//
// 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_WAYPOINT_FOLLOWER__PLUGINS__WAIT_AT_WAYPOINT_HPP_
#define NAV2_WAYPOINT_FOLLOWER__PLUGINS__WAIT_AT_WAYPOINT_HPP_
#pragma once
 
#include <string>
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "nav2_core/waypoint_task_executor.hpp"
 
namespace nav2_waypoint_follower
{
 
class WaitAtWaypoint : public nav2_core::WaypointTaskExecutor
{
public:
  WaitAtWaypoint();
 
  ~WaitAtWaypoint();
 
  void initialize(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
    const std::string & plugin_name);
 
 
  bool processAtWaypoint(
    const geometry_msgs::msg::PoseStamped & curr_pose, const int & curr_waypoint_index);
 
protected:
  // the robot will sleep waypoint_pause_duration_ milliseconds
  int waypoint_pause_duration_;
  bool is_enabled_;
  rclcpp::Logger logger_{rclcpp::get_logger("nav2_waypoint_follower")};
  rclcpp::Clock::SharedPtr clock_;
};
 
}  // namespace nav2_waypoint_follower
#endif  // NAV2_WAYPOINT_FOLLOWER__PLUGINS__WAIT_AT_WAYPOINT_HPP_