Program Listing for File distance_traveled_condition.hpp
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// Copyright (c) 2020 Sarthak Mittal
// Copyright (c) 2019 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__CONDITION__DISTANCE_TRAVELED_CONDITION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__DISTANCE_TRAVELED_CONDITION_HPP_
#include <string>
#include <memory>
#include "behaviortree_cpp/condition_node.h"
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "tf2_ros/buffer.h"
namespace nav2_behavior_tree
{
class DistanceTraveledCondition : public BT::ConditionNode
{
public:
DistanceTraveledCondition(
const std::string & condition_name,
const BT::NodeConfiguration & conf);
DistanceTraveledCondition() = delete;
BT::NodeStatus tick() override;
void initialize();
static BT::PortsList providedPorts()
{
return {
BT::InputPort<double>("distance", 1.0, "Distance"),
BT::InputPort<std::string>("global_frame", "Global frame"),
BT::InputPort<std::string>("robot_base_frame", "Robot base frame")
};
}
private:
rclcpp::Node::SharedPtr node_;
std::shared_ptr<tf2_ros::Buffer> tf_;
geometry_msgs::msg::PoseStamped start_pose_;
double distance_;
double transform_tolerance_;
std::string global_frame_, robot_base_frame_;
bool initialized_;
};
} // namespace nav2_behavior_tree
#endif // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__DISTANCE_TRAVELED_CONDITION_HPP_