compute_path_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/compute_path_to_pose_action.hpp"
 
namespace nav2_behavior_tree
{
 
ComputePathToPoseAction::ComputePathToPoseAction(
  const std::string & xml_tag_name,
  const std::string & action_name,
  const BT::NodeConfiguration & conf)
: BtActionNode<Action>(xml_tag_name, action_name, conf)
{
}
 
void ComputePathToPoseAction::on_tick()
{
  getInput("goal", goal_.goal);
  getInput("planner_id", goal_.planner_id);
 
  // use waypoints if available
  if (!getInput("viapoints", goal_.viapoints)) {
    goal_.viapoints = std::vector<geometry_msgs::msg::PoseStamped>();
  }
 
  // if "use_start" is provided try to enforce it (true or false), but we cannot enforce true if
  // start is not provided
  goal_.use_start = false;
  if (getInput("use_start", goal_.use_start)) {
    if (goal_.use_start && !getInput("start", goal_.start)) {
      // in case we don't have a "start" pose
      goal_.use_start = false;
      RCLCPP_ERROR(
        node_->get_logger(),
        "use_start is set to true but no start pose was provided, falling back to default "
        "behavior, i.e. using the current robot pose");
    }
  } else {
    // else if "use_start" is not provided, but "start" is, then use it in order to not change
    // the legacy behavior
    if (getInput("start", goal_.start)) {
      goal_.use_start = true;
    }
  }
}
 
BT::NodeStatus ComputePathToPoseAction::on_success()
{
  setOutput("path", result_.result->path);
  // Set empty error code, action was successful
  setOutput("error_code_id", ActionResult::NONE);
  setOutput("error_msg", "");
  return BT::NodeStatus::SUCCESS;
}
 
BT::NodeStatus ComputePathToPoseAction::on_aborted()
{
  nav_msgs::msg::Path empty_path;
  setOutput("path", empty_path);
  setOutput("error_code_id", result_.result->error_code);
  setOutput("error_msg", result_.result->error_msg);
  return BT::NodeStatus::FAILURE;
}
 
BT::NodeStatus ComputePathToPoseAction::on_cancelled()
{
  nav_msgs::msg::Path empty_path;
  setOutput("path", empty_path);
  // Set empty error code, action was cancelled
  setOutput("error_code_id", ActionResult::NONE);
  setOutput("error_msg", "");
  return BT::NodeStatus::SUCCESS;
}
 
void ComputePathToPoseAction::halt()
{
  nav_msgs::msg::Path empty_path;
  setOutput("path", empty_path);
  // 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::ComputePathToPoseAction>(
        name, "compute_path_to_pose", config);
    };
 
  factory.registerBuilder<nav2_behavior_tree::ComputePathToPoseAction>(
    "ComputePathToPose", builder);
}