is_goal_nearby_condition.hpp

// Copyright (c) 2026 Jakub Chudziński
//
// 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__CONDITION__IS_GOAL_NEARBY_CONDITION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_GOAL_NEARBY_CONDITION_HPP_
 
#include <limits>
#include <memory>
#include <string>
#include <vector>
 
#include "behaviortree_cpp/condition_node.h"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav_msgs/msg/path.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/parameter_value.hpp"
#include "rclcpp/utilities.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
#include "rclcpp/clock.hpp"
 
namespace nav2_behavior_tree
{
 
class IsGoalNearbyCondition : public BT::ConditionNode
{
public:
  IsGoalNearbyCondition(const std::string & condition_name, const BT::NodeConfiguration & conf);
 
  IsGoalNearbyCondition() = delete;
 
  BT::NodeStatus tick() override;
 
  static BT::PortsList providedPorts()
  {
    return {
      BT::InputPort<nav_msgs::msg::Path>("path", "Planned path"),
      BT::InputPort<double>(
        "proximity_threshold", 1.0,
        "Proximity length (m) of the remaining path considered as a nearby"),
      BT::InputPort<double>(
        "max_robot_pose_search_dist", -1.0,
        "Maximum forward integrated distance along the path "
        "(starting from the last detected pose) to bound the search for the closest pose "
        "to the robot. When set to negative value (default), whole path is searched every time"),
      BT::InputPort<std::string>("global_frame", "Global frame"),
      BT::InputPort<std::string>("robot_base_frame", "Robot base frame"),
    };
  }
 
private:
  nav2::LifecycleNode::SharedPtr node_;
  rclcpp::Clock::SharedPtr clock_;
  nav2::TransformBuffer::SharedPtr tf_buffer_;
  nav_msgs::msg::Path path_;
  std::vector<geometry_msgs::msg::PoseStamped>::iterator closest_pose_detection_begin_;
  double transform_tolerance_;
  double transform_staleness_threshold_;
  std::string global_frame_;
  std::string robot_base_frame_;
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_GOAL_NEARBY_CONDITION_HPP_