Program Listing for File clear_costmap_service.hpp
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// Copyright (c) 2019 Samsung Research America
//
// 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__ACTION__CLEAR_COSTMAP_SERVICE_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__CLEAR_COSTMAP_SERVICE_HPP_
#include <string>
#include "nav2_behavior_tree/bt_service_node.hpp"
#include "nav2_msgs/srv/clear_entire_costmap.hpp"
#include "nav2_msgs/srv/clear_costmap_around_robot.hpp"
#include "nav2_msgs/srv/clear_costmap_except_region.hpp"
namespace nav2_behavior_tree
{
class ClearEntireCostmapService : public BtServiceNode<nav2_msgs::srv::ClearEntireCostmap>
{
public:
ClearEntireCostmapService(
const std::string & service_node_name,
const BT::NodeConfiguration & conf);
void on_tick() override;
};
class ClearCostmapExceptRegionService
: public BtServiceNode<nav2_msgs::srv::ClearCostmapExceptRegion>
{
public:
ClearCostmapExceptRegionService(
const std::string & service_node_name,
const BT::NodeConfiguration & conf);
void on_tick() override;
static BT::PortsList providedPorts()
{
return providedBasicPorts(
{
BT::InputPort<double>(
"reset_distance", 1,
"Distance from the robot above which obstacles are cleared")
});
}
};
class ClearCostmapAroundRobotService : public BtServiceNode<nav2_msgs::srv::ClearCostmapAroundRobot>
{
public:
ClearCostmapAroundRobotService(
const std::string & service_node_name,
const BT::NodeConfiguration & conf);
void on_tick() override;
static BT::PortsList providedPorts()
{
return providedBasicPorts(
{
BT::InputPort<double>(
"reset_distance", 1,
"Distance from the robot under which obstacles are cleared")
});
}
};
} // namespace nav2_behavior_tree
#endif // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__CLEAR_COSTMAP_SERVICE_HPP_