distance_controller.hpp

// Copyright (c) 2018 Intel Corporation
// Copyright (c) 2020 Sarthak Mittal
//
// 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__DECORATOR__DISTANCE_CONTROLLER_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__DECORATOR__DISTANCE_CONTROLLER_HPP_
 
#include <memory>
#include <string>
 
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "tf2_ros/buffer.hpp"
 
#include "behaviortree_cpp/decorator_node.h"
#include "nav2_behavior_tree/bt_utils.hpp"
 
namespace nav2_behavior_tree
{
 
class DistanceController : public BT::DecoratorNode
{
public:
  DistanceController(
    const std::string & name,
    const BT::NodeConfiguration & conf);
 
  static BT::PortsList providedPorts()
  {
    return {
      BT::InputPort<double>("distance", 1.0, "Distance"),
      BT::InputPort<std::string>("global_frame", "Global frame"),
      BT::InputPort<std::string>("robot_base_frame", "Robot base frame")
    };
  }
 
private:
  BT::NodeStatus tick() override;
 
  nav2::LifecycleNode::SharedPtr node_;
 
  std::shared_ptr<tf2_ros::Buffer> tf_;
  double transform_tolerance_;
 
  geometry_msgs::msg::PoseStamped start_pose_;
  double distance_;
  std::string global_frame_, robot_base_frame_;
 
  bool first_time_;
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__DECORATOR__DISTANCE_CONTROLLER_HPP_