Program Listing for File go_to_action.hpp

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#ifndef AS2_BEHAVIOR_TREE__ACTION__GO_TO_ACTION_HPP_
#define AS2_BEHAVIOR_TREE__ACTION__GO_TO_ACTION_HPP_

#include <string>
#include <memory>

#include "behaviortree_cpp_v3/action_node.h"

#include "as2_core/names/actions.hpp"
#include "as2_msgs/action/go_to_waypoint.hpp"

#include "as2_behavior_tree/bt_action_node.hpp"
#include "as2_behavior_tree/port_specialization.hpp"
#include "geometry_msgs/msg/point_stamped.hpp"

namespace as2_behavior_tree
{
class GoToAction
  : public nav2_behavior_tree::BtActionNode<as2_msgs::action::GoToWaypoint>
{
public:
  GoToAction(
    const std::string & xml_tag_name,
    const BT::NodeConfiguration & conf);

  void on_tick();

  void on_wait_for_result(
    std::shared_ptr<const as2_msgs::action::GoToWaypoint::Feedback> feedback);

  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {BT::InputPort<double>("max_speed"), BT::InputPort<double>("yaw_angle"),
        BT::InputPort<geometry_msgs::msg::PointStamped>("pose"),
        BT::InputPort<int>("yaw_mode")});
  }
};

}  // namespace as2_behavior_tree

#endif  // AS2_BEHAVIOR_TREE__ACTION__GO_TO_ACTION_HPP_