Program Listing for File go_to_action.cpp
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/*!*******************************************************************************************
* \file go_to_action.cpp
* \brief Go to action implementation as behavior tree node
* \authors Pedro Arias Pérez
* Miguel Fernández Cortizas
* David Pérez Saura
* Rafael Pérez Seguí
*
* \copyright Copyright (c) 2022 Universidad Politécnica de Madrid
* All Rights Reserved
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
********************************************************************************/
#include "as2_behavior_tree/action/go_to_action.hpp"
namespace as2_behavior_tree {
GoToAction::GoToAction(const std::string &xml_tag_name,
const BT::NodeConfiguration &conf)
: nav2_behavior_tree::BtActionNode<as2_msgs::action::GoToWaypoint>(
xml_tag_name, as2_names::actions::behaviors::gotowaypoint, conf) {}
void GoToAction::on_tick() {
getInput("max_speed", goal_.max_speed);
getInput("yaw_angle", goal_.yaw.angle);
getInput("yaw_mode",
goal_.yaw.mode); // TODO --> runtime warning, called
// BT::convertFromString() for type [unsigned char]
getInput<geometry_msgs::msg::PointStamped>("pose", goal_.target_pose);
}
void GoToAction::on_wait_for_result(
std::shared_ptr<const as2_msgs::action::GoToWaypoint::Feedback> feedback) {}
} // namespace as2_behavior_tree