reinitialize_global_localization_service.hpp

// Copyright (c) 2019 Samsung Research America
//
// 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__REINITIALIZE_GLOBAL_LOCALIZATION_SERVICE_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__REINITIALIZE_GLOBAL_LOCALIZATION_SERVICE_HPP_
 
#include <string>
 
#include "nav2_behavior_tree/bt_service_node.hpp"
#include "std_srvs/srv/empty.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
 
namespace nav2_behavior_tree
{
 
class ReinitializeGlobalLocalizationService : public BtServiceNode<std_srvs::srv::Empty>
{
public:
  ReinitializeGlobalLocalizationService(
    const std::string & service_node_name,
    const BT::NodeConfiguration & conf);
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__REINITIALIZE_GLOBAL_LOCALIZATION_SERVICE_HPP_