toggle_collision_monitor_service.hpp

// Copyright (c) 2025 David Grbac
//
// 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.
 
#pragma once
 
#include <string>
 
#include "nav2_behavior_tree/bt_service_node.hpp"
#include "nav2_msgs/srv/toggle.hpp"
 
namespace nav2_behavior_tree
{
 
class ToggleCollisionMonitorService : public BtServiceNode<nav2_msgs::srv::Toggle>
{
public:
  ToggleCollisionMonitorService(
    const std::string & service_node_name,
    const BT::NodeConfiguration & conf);
 
  void on_tick() override;
 
  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {
        BT::InputPort<bool>(
          "enable", true,
          "Whether to enable or disable collision monitoring"),
      });
  }
};
 
}  // namespace nav2_behavior_tree