Program Listing for File back_up_cancel_node.hpp

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// Copyright (c) 2022 Neobotix GmbH
//
// 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__BACK_UP_CANCEL_NODE_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__BACK_UP_CANCEL_NODE_HPP_

#include <memory>
#include <string>

#include "nav2_msgs/action/back_up.hpp"

#include "nav2_behavior_tree/bt_cancel_action_node.hpp"

namespace nav2_behavior_tree
{

class BackUpCancel : public BtCancelActionNode<nav2_msgs::action::BackUp>
{
public:
  BackUpCancel(
    const std::string & xml_tag_name,
    const std::string & action_name,
    const BT::NodeConfiguration & conf);

  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {
      });
  }
};

}  // namespace nav2_behavior_tree

#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__BACK_UP_CANCEL_NODE_HPP_