compute_and_track_route_cancel_node.hpp

// Copyright (c) 2025 Open Navigation LLC
//
// 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_AND_TRACK_ROUTE_CANCEL_NODE_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__COMPUTE_AND_TRACK_ROUTE_CANCEL_NODE_HPP_
 
#include <memory>
#include <string>
 
#include "nav2_msgs/action/compute_and_track_route.hpp"
 
#include "nav2_behavior_tree/bt_cancel_action_node.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
 
namespace nav2_behavior_tree
{
 
class ComputeAndTrackRouteCancel
  : public BtCancelActionNode<nav2_msgs::action::ComputeAndTrackRoute>
{
public:
  ComputeAndTrackRouteCancel(
    const std::string & xml_tag_name,
    const std::string & action_name,
    const BT::NodeConfiguration & conf);
 
  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {
      });
  }
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__COMPUTE_AND_TRACK_ROUTE_CANCEL_NODE_HPP_