globally_updated_goal_condition.hpp

// Copyright (c) 2021 Joshua Wallace
//
// 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__CONDITION__GLOBALLY_UPDATED_GOAL_CONDITION_HPP_
#define  NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__GLOBALLY_UPDATED_GOAL_CONDITION_HPP_
 
#include <string>
#include <vector>
 
#include "nav2_ros_common/lifecycle_node.hpp"
#include "behaviortree_cpp/condition_node.h"
#include "behaviortree_cpp/json_export.h"
#include "nav_msgs/msg/goals.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"
#include "nav2_behavior_tree/json_utils.hpp"
 
 
namespace nav2_behavior_tree
{
class GloballyUpdatedGoalCondition : public BT::ConditionNode
{
public:
  GloballyUpdatedGoalCondition(
    const std::string & condition_name,
    const BT::NodeConfiguration & conf);
 
  GloballyUpdatedGoalCondition() = delete;
 
  BT::NodeStatus tick() override;
 
 
  static BT::PortsList providedPorts()
  {
    // Register JSON definitions for the types used in the ports
    BT::RegisterJsonDefinition<geometry_msgs::msg::PoseStamped>();
    BT::RegisterJsonDefinition<nav_msgs::msg::Goals>();
 
    return {
      BT::InputPort<nav_msgs::msg::Goals>(
        "goals", "Vector of navigation goals"),
      BT::InputPort<geometry_msgs::msg::PoseStamped>(
        "goal", "Navigation goal"),
    };
  }
 
private:
  bool first_time;
  nav2::LifecycleNode::SharedPtr node_;
  geometry_msgs::msg::PoseStamped goal_;
  nav_msgs::msg::Goals goals_;
};
 
}  // namespace nav2_behavior_tree
 
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__GLOBALLY_UPDATED_GOAL_CONDITION_HPP_