follow_object_action.cpp

// Copyright (c) 2024 Open Navigation LLC
// Copyright (c) 2024 Alberto J. Tudela Roldán
//
// 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.
 
#include <memory>
#include <string>
 
#include "nav2_behavior_tree/plugins/action/follow_object_action.hpp"
 
namespace nav2_behavior_tree
{
 
FollowObjectAction::FollowObjectAction(
  const std::string & xml_tag_name,
  const std::string & action_name,
  const BT::NodeConfiguration & conf)
: BtActionNode<Action>(xml_tag_name, action_name, conf)
{
}
 
void FollowObjectAction::on_tick()
{
  // Get core inputs about what to perform
  getInput("pose_topic", goal_.pose_topic);
  getInput("tracked_frame", goal_.tracked_frame);
  double max_duration;
  getInput("max_duration", max_duration);
 
  // Populate the input message
  goal_.max_duration = rclcpp::Duration::from_seconds(max_duration);
}
 
BT::NodeStatus FollowObjectAction::on_success()
{
  setOutput("total_elapsed_time", result_.result->total_elapsed_time);
  setOutput("error_code_id", ActionResult::NONE);
  setOutput("error_msg", "");
  return BT::NodeStatus::SUCCESS;
}
 
BT::NodeStatus FollowObjectAction::on_aborted()
{
  setOutput("total_elapsed_time", result_.result->total_elapsed_time);
  setOutput("error_code_id", result_.result->error_code);
  setOutput("error_msg", result_.result->error_msg);
  return BT::NodeStatus::FAILURE;
}
 
BT::NodeStatus FollowObjectAction::on_cancelled()
{
  setOutput("total_elapsed_time", result_.result->total_elapsed_time);
  setOutput("error_code_id", ActionResult::NONE);
  setOutput("error_msg", "");
  return BT::NodeStatus::SUCCESS;
}
 
}  // namespace nav2_behavior_tree
 
#include "behaviortree_cpp/bt_factory.h"
BT_REGISTER_NODES(factory)
{
  BT::NodeBuilder builder =
    [](const std::string & name, const BT::NodeConfiguration & config)
    {
      return std::make_unique<nav2_behavior_tree::FollowObjectAction>(
        name, "follow_object", config);
    };
 
  factory.registerBuilder<nav2_behavior_tree::FollowObjectAction>(
    "FollowObject", builder);
}