Program Listing for File arm_service.hpp

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#ifndef AS2_BEHAVIOR_TREE__ACTION__ARM_SERVICE_HPP_
#define AS2_BEHAVIOR_TREE__ACTION__ARM_SERVICE_HPP_

#include <memory>
#include <string>

#include "behaviortree_cpp_v3/action_node.h"

#include "nav2_behavior_tree/bt_service_node.hpp"

#include <std_srvs/srv/set_bool.hpp>

namespace as2_behavior_tree
{
class ArmService
  : public nav2_behavior_tree::BtServiceNode<std_srvs::srv::SetBool>
{
public:
  ArmService(
    const std::string & xml_tag_name,
    const BT::NodeConfiguration & conf);

  void on_tick() override;

  BT::NodeStatus
  on_completion(std::shared_ptr<std_srvs::srv::SetBool::Response> response);
};

class DisarmService
  : public nav2_behavior_tree::BtServiceNode<std_srvs::srv::SetBool>
{
public:
  DisarmService(
    const std::string & xml_tag_name,
    const BT::NodeConfiguration & conf);

  void on_tick() override;

  BT::NodeStatus
  on_completion(std::shared_ptr<std_srvs::srv::SetBool::Response> response);
};

}  // namespace as2_behavior_tree

#endif  // AS2_BEHAVIOR_TREE__ACTION__ARM_SERVICE_HPP_