spin_action.hpp

// Copyright (c) 2018 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__SPIN_ACTION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__SPIN_ACTION_HPP_
 
#include <string>
 
#include "nav2_behavior_tree/bt_action_node.hpp"
#include "nav2_msgs/action/spin.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
 
namespace nav2_behavior_tree
{
 
class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
{
  using Action = nav2_msgs::action::Spin;
  using ActionResult = Action::Result;
 
public:
  SpinAction(
    const std::string & xml_tag_name,
    const std::string & action_name,
    const BT::NodeConfiguration & conf);
 
  void on_tick() override;
 
  void on_timeout() override;
 
  void initialize();
 
  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {
        BT::InputPort<double>("spin_dist", 1.57, "Spin distance"),
        BT::InputPort<double>("time_allowance", 10.0, "Allowed time for spinning"),
        BT::InputPort<bool>("is_recovery", true, "True if recovery"),
        BT::InputPort<bool>("disable_collision_checks", false, "Disable collision checking"),
        BT::OutputPort<ActionResult::_error_code_type>(
          "error_code_id", "The spin behavior error code"),
        BT::OutputPort<std::string>(
          "error_msg", "The spin behavior error msg"),
      });
  }
 
  BT::NodeStatus on_success() override;
 
  BT::NodeStatus on_aborted() override;
 
  BT::NodeStatus on_cancelled() override;
 
private:
  bool is_recovery_;
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__SPIN_ACTION_HPP_