Program Listing for File set_origin.hpp

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#ifndef AS2_BEHAVIOR_TREE__ACTION__SET_ORIGIN_HPP_
#define AS2_BEHAVIOR_TREE__ACTION__SET_ORIGIN_HPP_

#include <string>

#include "behaviortree_cpp_v3/action_node.h"

#include "nav2_behavior_tree/bt_service_node.hpp"

#include "as2_msgs/srv/set_origin.hpp"

namespace as2_behavior_tree
{
class SetOrigin
  : public nav2_behavior_tree::BtServiceNode<as2_msgs::srv::SetOrigin>
{
public:
  SetOrigin(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>("altitude")});
  }

  BT::NodeStatus on_completion();
};
}  // namespace as2_behavior_tree

#endif  // AS2_BEHAVIOR_TREE__ACTION__SET_ORIGIN_HPP_