Program Listing for File gps_to_cartesian.hpp

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#ifndef AS2_BEHAVIOR_TREE__ACTION__GPS_TO_CARTESIAN_HPP_
#define AS2_BEHAVIOR_TREE__ACTION__GPS_TO_CARTESIAN_HPP_

#include <iterator>
#include <string>

#include "behaviortree_cpp_v3/action_node.h"

#include "as2_behavior_tree/port_specialization.hpp"
#include "as2_msgs/srv/geopath_to_path.hpp"
#include "geometry_msgs/msg/pose.hpp"
#include "nav2_behavior_tree/bt_service_node.hpp"
#include "rclcpp/rclcpp.hpp"

namespace as2_behavior_tree
{
class GpsToCartesian
  : public nav2_behavior_tree::BtServiceNode<as2_msgs::srv::GeopathToPath>
{
public:
  GpsToCartesian(
    const std::string & xml_tag_name,
    const BT::NodeConfiguration & conf);

  void on_tick() override;

  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {BT::InputPort<float>("latitude"), BT::InputPort<float>("longitude"),
        BT::InputPort<float>("z"),
        BT::OutputPort<geometry_msgs::msg::Pose>("out_pose")});
  }

  BT::NodeStatus on_completion();

private:
  geometry_msgs::msg::Pose pose;
  geographic_msgs::msg::GeoPoseStamped geopose;
  geographic_msgs::msg::GeoPath geopath;
};
}  // namespace as2_behavior_tree

#endif  // AS2_BEHAVIOR_TREE__ACTION__GPS_TO_CARTESIAN_HPP_