compute_path_to_pose_action.hpp

// 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.
 
#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__COMPUTE_PATH_TO_POSE_ACTION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__COMPUTE_PATH_TO_POSE_ACTION_HPP_
 
#include <string>
#include <vector>
 
#include "nav2_msgs/action/compute_path_to_pose.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_behavior_tree/bt_action_node.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
 
namespace nav2_behavior_tree
{
 
class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePathToPose>
{
  using Action = nav2_msgs::action::ComputePathToPose;
  using ActionResult = Action::Result;
 
public:
  ComputePathToPoseAction(
    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 halt() override;
 
  static BT::PortsList providedPorts()
  {
    // Register JSON definitions for the types used in the ports
    BT::RegisterJsonDefinition<nav_msgs::msg::Path>();
    BT::RegisterJsonDefinition<geometry_msgs::msg::PoseStamped>();
 
    return providedBasicPorts(
      {
        BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to"),
        BT::InputPort<geometry_msgs::msg::PoseStamped>(
          "start",
          "Used as the planner start pose instead of the current robot pose, if use_start is"
          " not false (i.e. not provided or set to true)"),
        BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
          "viapoints",
          "A list of intermediate viapoints (excluding goal) to consider for planning"),
        BT::InputPort<bool>(
          "use_start", "For using or not using (i.e. ignoring) the provided start pose"),
        BT::InputPort<std::string>(
          "planner_id", "",
          "Mapped name to the planner plugin type to use"),
        BT::OutputPort<nav_msgs::msg::Path>("path", "Path created by ComputePathToPose node"),
      });
  }
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__COMPUTE_PATH_TO_POSE_ACTION_HPP_