Program Listing for File goal_reached_condition.hpp

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// 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__GOAL_REACHED_CONDITION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__GOAL_REACHED_CONDITION_HPP_

#include <string>
#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "behaviortree_cpp/condition_node.h"
#include "tf2_ros/buffer.h"

namespace nav2_behavior_tree
{

class GoalReachedCondition : public BT::ConditionNode
{
public:
  GoalReachedCondition(
    const std::string & condition_name,
    const BT::NodeConfiguration & conf);

  GoalReachedCondition() = delete;

  ~GoalReachedCondition() override;

  BT::NodeStatus tick() override;

  void initialize();

  bool isGoalReached();

  static BT::PortsList providedPorts()
  {
    return {
      BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination"),
      BT::InputPort<std::string>("global_frame", "Global frame"),
      BT::InputPort<std::string>("robot_base_frame", "Robot base frame")
    };
  }

protected:
  void cleanup()
  {}

private:
  rclcpp::Node::SharedPtr node_;
  std::shared_ptr<tf2_ros::Buffer> tf_;

  bool initialized_;
  double goal_reached_tol_;
  double transform_tolerance_;
  std::string robot_base_frame_;
};

}  // namespace nav2_behavior_tree

#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__GOAL_REACHED_CONDITION_HPP_