compute_path_through_poses_action.cpp

// Copyright (c) 2021 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.
 
#include <memory>
#include <string>
#include <vector>
 
#include "nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp"
 
namespace nav2_behavior_tree
{
 
ComputePathThroughPosesAction::ComputePathThroughPosesAction(
  const std::string & xml_tag_name,
  const std::string & action_name,
  const BT::NodeConfiguration & conf)
: BtActionNode<nav2_msgs::action::ComputePathThroughPoses>(xml_tag_name, action_name, conf)
{
}
 
void ComputePathThroughPosesAction::on_tick()
{
  getInput("goals", goal_.goals);
  getInput("planner_id", goal_.planner_id);
  if (getInput("start", goal_.start)) {
    goal_.use_start = true;
  }
}
 
BT::NodeStatus ComputePathThroughPosesAction::on_success()
{
  setOutput("path", result_.result->path);
  setOutput("last_reached_index", result_.result->last_reached_index);
  // Set empty error code, action was successful
  setOutput("error_code_id", ActionResult::NONE);
  setOutput("error_msg", "");
  return BT::NodeStatus::SUCCESS;
}
 
BT::NodeStatus ComputePathThroughPosesAction::on_aborted()
{
  nav_msgs::msg::Path empty_path;
  setOutput("path", empty_path);
  setOutput("last_reached_index", ActionResult::ALL_GOALS);
  setOutput("error_code_id", result_.result->error_code);
  setOutput("error_msg", result_.result->error_msg);
  return BT::NodeStatus::FAILURE;
}
 
BT::NodeStatus ComputePathThroughPosesAction::on_cancelled()
{
  nav_msgs::msg::Path empty_path;
  setOutput("path", empty_path);
  setOutput("last_reached_index", ActionResult::ALL_GOALS);
  // Set empty error code, action was cancelled
  setOutput("error_code_id", ActionResult::NONE);
  setOutput("error_msg", "");
  return BT::NodeStatus::SUCCESS;
}
 
void ComputePathThroughPosesAction::on_timeout()
{
  setOutput("last_reached_index", ActionResult::ALL_GOALS);
  setOutput("error_code_id", ActionResult::TIMEOUT);
  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
}
 
void ComputePathThroughPosesAction::halt()
{
  nav_msgs::msg::Path empty_path;
  setOutput("path", empty_path);
  setOutput("last_reached_index", ActionResult::ALL_GOALS);
  // DO NOT reset "error_code_id" output port, we want to read it later
  // DO NOT reset "error_msg" output port, we want to read it later
  BtActionNode::halt();
}
 
}  // 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::ComputePathThroughPosesAction>(
        name, "compute_path_through_poses", config);
    };
 
  factory.registerBuilder<nav2_behavior_tree::ComputePathThroughPosesAction>(
    "ComputePathThroughPoses", builder);
}