planner_selector_node.hpp

// Copyright (c) 2018 Intel Corporation
// Copyright (c) 2020 Pablo Iñigo Blasco
//
// 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__PLANNER_SELECTOR_NODE_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__PLANNER_SELECTOR_NODE_HPP_
 
#include <memory>
#include <string>
#include <chrono>
 
#include "std_msgs/msg/string.hpp"
 
#include "behaviortree_cpp/action_node.h"
 
#include "nav2_ros_common/lifecycle_node.hpp"
 
namespace nav2_behavior_tree
{
 
class PlannerSelector : public BT::SyncActionNode
{
public:
  PlannerSelector(
    const std::string & xml_tag_name,
    const BT::NodeConfiguration & conf);
 
  static BT::PortsList providedPorts()
  {
    return {
      BT::InputPort<std::string>(
        "default_planner",
        "the default planner to use if there is not any external topic message received."),
 
      BT::InputPort<std::string>(
        "topic_name",
        "planner_selector",
        "the input topic name to select the planner"),
 
      BT::OutputPort<std::string>(
        "selected_planner",
        "Selected planner by subscription")
    };
  }
 
private:
  void initialize();
  void createROSInterfaces();
 
  BT::NodeStatus tick() override;
 
  void callbackPlannerSelect(const std_msgs::msg::String::SharedPtr msg);
 
 
  nav2::Subscription<std_msgs::msg::String>::SharedPtr planner_selector_sub_;
 
  std::string last_selected_planner_;
 
  nav2::LifecycleNode::SharedPtr node_;
  rclcpp::CallbackGroup::SharedPtr callback_group_;
  rclcpp::executors::SingleThreadedExecutor callback_group_executor_;
 
  std::string topic_name_;
  std::chrono::milliseconds bt_loop_duration_;
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__PLANNER_SELECTOR_NODE_HPP_