Program Listing for File distance_controller.hpp

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// Copyright (c) 2018 Intel Corporation
// Copyright (c) 2020 Sarthak Mittal
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__DECORATOR__DISTANCE_CONTROLLER_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__DECORATOR__DISTANCE_CONTROLLER_HPP_

#include <memory>
#include <string>

#include "geometry_msgs/msg/pose_stamped.hpp"
#include "tf2_ros/buffer.h"

#include "behaviortree_cpp_v3/decorator_node.h"

namespace nav2_behavior_tree
{

class DistanceController : public BT::DecoratorNode
{
public:
  DistanceController(
    const std::string & name,
    const BT::NodeConfiguration & conf);

  static BT::PortsList providedPorts()
  {
    return {
      BT::InputPort<double>("distance", 1.0, "Distance"),
      BT::InputPort<std::string>("global_frame", std::string("map"), "Global frame"),
      BT::InputPort<std::string>("robot_base_frame", std::string("base_link"), "Robot base frame")
    };
  }

private:
  BT::NodeStatus tick() override;

  rclcpp::Node::SharedPtr node_;

  std::shared_ptr<tf2_ros::Buffer> tf_;
  double transform_tolerance_;

  geometry_msgs::msg::PoseStamped start_pose_;
  double distance_;

  std::string global_frame_;
  std::string robot_base_frame_;

  bool first_time_;
};

}  // namespace nav2_behavior_tree

#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__DECORATOR__DISTANCE_CONTROLLER_HPP_