00001 /* 00002 * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions 00006 * are met: 00007 * 00008 * 1. Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * 00011 * 2. Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * 00016 * 3. Neither the name of the copyright holder nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 * 00033 * wrapper_recovery_behavior.cpp 00034 * 00035 * authors: 00036 * Sebastian Pütz <spuetz@uni-osnabrueck.de> 00037 * Jorge Santos Simón <santos@magazino.eu> 00038 * 00039 */ 00040 00041 #include <mbf_msgs/RecoveryResult.h> 00042 #include "nav_core_wrapper/wrapper_recovery_behavior.h" 00043 00044 namespace mbf_nav_core_wrapper 00045 { 00046 void WrapperRecoveryBehavior::initialize(std::string name, TF *tf, 00047 costmap_2d::Costmap2DROS *global_costmap, 00048 costmap_2d::Costmap2DROS *local_costmap) 00049 { 00050 nav_core_plugin_->initialize(name, tf, global_costmap, local_costmap); 00051 } 00052 00053 uint32_t WrapperRecoveryBehavior::runBehavior(std::string& message) 00054 { 00055 nav_core_plugin_->runBehavior(); 00056 // TODO return a code for old API 00057 return mbf_msgs::RecoveryResult::SUCCESS; 00058 } 00059 00060 bool WrapperRecoveryBehavior::cancel() 00061 { 00062 return false; 00063 } 00064 00065 WrapperRecoveryBehavior::WrapperRecoveryBehavior(boost::shared_ptr<nav_core::RecoveryBehavior> plugin) 00066 : nav_core_plugin_(plugin) 00067 {} 00068 00069 WrapperRecoveryBehavior::~WrapperRecoveryBehavior() 00070 {} 00071 00072 }; /* namespace mbf_abstract_core */