00001 /* Copyright (C) 2015-2017 Michele Colledanchise - All Rights Reserved 00002 * 00003 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), 00004 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 00005 * and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: 00006 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. 00007 * 00008 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00009 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, 00010 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 00011 */ 00012 00013 00014 #ifndef ACTIONS_ROS_ACTION_H 00015 #define ACTIONS_ROS_ACTION_H 00016 00017 #include <action_node.h> 00018 #include <string> 00019 00020 #include <actionlib/client/simple_action_client.h> 00021 #include <actionlib/client/terminal_state.h> 00022 #include <behavior_tree_core/BTAction.h> 00023 00024 00025 00026 namespace BT 00027 { 00028 class ROSAction : public ActionNode 00029 { 00030 protected: 00031 actionlib::SimpleActionClient<behavior_tree_core::BTAction> action_client_; 00032 behavior_tree_core::BTResult node_result; 00033 behavior_tree_core::BTGoal goal; 00034 public: 00035 // Constructor 00036 explicit ROSAction(std::string name); 00037 ~ROSAction(); 00038 00039 // The method that is going to be executed by the thread 00040 void WaitForTick(); 00041 00042 // The method used to interrupt the execution of the node 00043 void Halt(); 00044 }; 00045 } // namespace BT 00046 00047 #endif // ACTIONS_ROS_ACTION_H