Program Listing for File spin_action.hpp
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// Copyright (c) 2018 Intel Corporation
//
// 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__SPIN_ACTION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__SPIN_ACTION_HPP_
#include <string>
#include "nav2_behavior_tree/bt_action_node.hpp"
#include "nav2_msgs/action/spin.hpp"
namespace nav2_behavior_tree
{
class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
{
using Action = nav2_msgs::action::Spin;
using ActionResult = Action::Result;
public:
SpinAction(
const std::string & xml_tag_name,
const std::string & action_name,
const BT::NodeConfiguration & conf);
void on_tick() override;
void initialize();
static BT::PortsList providedPorts()
{
return providedBasicPorts(
{
BT::InputPort<double>("spin_dist", 1.57, "Spin distance"),
BT::InputPort<double>("time_allowance", 10.0, "Allowed time for spinning"),
BT::InputPort<bool>("is_recovery", true, "True if recovery"),
BT::OutputPort<ActionResult::_error_code_type>(
"error_code_id", "The spin behavior error code")
});
}
BT::NodeStatus on_success() override;
BT::NodeStatus on_aborted() override;
BT::NodeStatus on_cancelled() override;
private:
bool is_recovery_;
bool initialized_;
};
} // namespace nav2_behavior_tree
#endif // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__SPIN_ACTION_HPP_