smooth_path_action.hpp

// Copyright (c) 2021 RoboTech Vision
// Copyright (c) 2019 Intel Corporation
//
// 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__SMOOTH_PATH_ACTION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__SMOOTH_PATH_ACTION_HPP_
 
#include <string>
 
#include "nav2_msgs/action/smooth_path.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_behavior_tree/bt_action_node.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
 
namespace nav2_behavior_tree
{
 
class SmoothPathAction : public nav2_behavior_tree::BtActionNode<nav2_msgs::action::SmoothPath>
{
  using Action = nav2_msgs::action::SmoothPath;
  using ActionResult = Action::Result;
 
public:
  SmoothPathAction(
    const std::string & xml_tag_name,
    const std::string & action_name,
    const BT::NodeConfiguration & conf);
 
  void on_tick() override;
 
  BT::NodeStatus on_success() override;
 
  BT::NodeStatus on_aborted() override;
 
  BT::NodeStatus on_cancelled() override;
 
  void on_timeout() override;
 
  static BT::PortsList providedPorts()
  {
    // Register JSON definitions for the types used in the ports
    BT::RegisterJsonDefinition<nav_msgs::msg::Path>();
 
    return providedBasicPorts(
      {
        BT::InputPort<nav_msgs::msg::Path>("unsmoothed_path", "Path to be smoothed"),
        BT::InputPort<double>("max_smoothing_duration", 3.0, "Maximum smoothing duration"),
        BT::InputPort<bool>(
          "check_for_collisions", false,
          "If true collision check will be performed after smoothing"),
        BT::InputPort<std::string>("smoother_id", ""),
        BT::OutputPort<nav_msgs::msg::Path>(
          "smoothed_path",
          "Path smoothed by SmootherServer node"),
        BT::OutputPort<double>("smoothing_duration", "Time taken to smooth path"),
        BT::OutputPort<bool>(
          "was_completed", "True if smoothing was not interrupted by time limit"),
        BT::OutputPort<ActionResult::_error_code_type>(
          "error_code_id", "The smooth path error code"),
        BT::OutputPort<std::string>(
          "error_msg", "The smooth path error msg"),
      });
  }
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__SMOOTH_PATH_ACTION_HPP_