remove_passed_goals_action.hpp

// 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.
 
#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__REMOVE_PASSED_GOALS_ACTION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__REMOVE_PASSED_GOALS_ACTION_HPP_
 
#include <vector>
#include <memory>
#include <string>
 
#include "behaviortree_cpp/action_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"
#include "nav2_msgs/msg/waypoint_status.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
#include "rclcpp/clock.hpp"
 
namespace nav2_behavior_tree
{
 
class RemovePassedGoals : public BT::ActionNodeBase
{
public:
  RemovePassedGoals(
    const std::string & xml_tag_name,
    const BT::NodeConfiguration & conf);
 
  void initialize();
 
  static BT::PortsList providedPorts()
  {
    // Register JSON definitions for the types used in the ports
    BT::RegisterJsonDefinition<nav_msgs::msg::Goals>();
    BT::RegisterJsonDefinition<nav2_msgs::msg::WaypointStatus>();
    BT::RegisterJsonDefinition<std::vector<nav2_msgs::msg::WaypointStatus>>();
 
    return {
      BT::InputPort<nav_msgs::msg::Goals>(
        "input_goals",
        "Original goals to remove viapoints from"),
      BT::OutputPort<nav_msgs::msg::Goals>(
        "output_goals",
        "Goals with passed viapoints removed"),
      BT::InputPort<double>("radius", 0.5, "radius to goal for it to be considered for removal"),
      BT::InputPort<std::string>("robot_base_frame", "Robot base frame"),
      BT::InputPort<std::vector<nav2_msgs::msg::WaypointStatus>>(
        "input_waypoint_statuses",
        "Original waypoint_statuses to mark waypoint status from"),
      BT::OutputPort<std::vector<nav2_msgs::msg::WaypointStatus>>(
        "output_waypoint_statuses",
        "Waypoint_statuses with passed waypoints marked")
    };
  }
 
private:
  void halt() override {}
  BT::NodeStatus tick() override;
 
  double viapoint_achieved_radius_;
  double transform_tolerance_;
  nav2::LifecycleNode::SharedPtr node_;
  nav2::TransformBuffer::SharedPtr tf_;
  std::string robot_base_frame_;
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__REMOVE_PASSED_GOALS_ACTION_HPP_