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_