Program Listing for File send_event.cpp
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/*!*******************************************************************************************
* \file send_event.cpp
* \brief Send event 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/send_event.hpp"
namespace as2_behavior_tree {
SendEvent::SendEvent(const std::string &xml_tag_name,
const BT::NodeConfiguration &conf)
: BT::SyncActionNode(xml_tag_name, conf) {
node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
callback_group_ = node_->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive, false);
callback_group_executor_.add_callback_group(callback_group_,
node_->get_node_base_interface());
getInput("topic_name", topic_name_);
rclcpp::PublisherOptions pub_options;
pub_options.callback_group = callback_group_;
pub_ = node_->create_publisher<std_msgs::msg::String>(
topic_name_, rclcpp::SystemDefaultsQoS(), pub_options);
}
BT::NodeStatus SendEvent::tick() {
std_msgs::msg::String msg;
getInput("data", msg.data);
pub_->publish(msg);
return BT::NodeStatus::SUCCESS;
}
} // namespace as2_behavior_tree