Program Listing for File time_expired_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__TIME_EXPIRED_CONDITION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__TIME_EXPIRED_CONDITION_HPP_
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "behaviortree_cpp/condition_node.h"
namespace nav2_behavior_tree
{
class TimeExpiredCondition : public BT::ConditionNode
{
public:
TimeExpiredCondition(
const std::string & condition_name,
const BT::NodeConfiguration & conf);
TimeExpiredCondition() = delete;
BT::NodeStatus tick() override;
void initialize();
static BT::PortsList providedPorts()
{
return {
BT::InputPort<double>("seconds", 1.0, "Seconds")
};
}
private:
rclcpp::Node::SharedPtr node_;
rclcpp::Time start_;
double period_;
bool initialized_;
};
} // namespace nav2_behavior_tree
#endif // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__TIME_EXPIRED_CONDITION_HPP_