Program Listing for File is_path_valid_condition.hpp
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// Copyright (c) 2021 Joshua Wallace
//
// 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__IS_PATH_VALID_CONDITION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_PATH_VALID_CONDITION_HPP_
#include <string>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "behaviortree_cpp/condition_node.h"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_msgs/srv/is_path_valid.hpp"
namespace nav2_behavior_tree
{
class IsPathValidCondition : public BT::ConditionNode
{
public:
IsPathValidCondition(
const std::string & condition_name,
const BT::NodeConfiguration & conf);
IsPathValidCondition() = delete;
BT::NodeStatus tick() override;
void initialize();
static BT::PortsList providedPorts()
{
return {
BT::InputPort<nav_msgs::msg::Path>("path", "Path to Check"),
BT::InputPort<std::chrono::milliseconds>("server_timeout")
};
}
private:
rclcpp::Node::SharedPtr node_;
rclcpp::Client<nav2_msgs::srv::IsPathValid>::SharedPtr client_;
// The timeout value while waiting for a responce from the
// is path valid service
std::chrono::milliseconds server_timeout_;
bool initialized_;
};
} // namespace nav2_behavior_tree
#endif // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_PATH_VALID_CONDITION_HPP_