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| 1 | +// Copyright (c) 2022 Joshua Wallace |
| 2 | +// |
| 3 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +// you may not use this file except in compliance with the License. |
| 5 | +// You may obtain a copy of the License at |
| 6 | +// |
| 7 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +// |
| 9 | +// Unless required by applicable law or agreed to in writing, software |
| 10 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +// See the License for the specific language governing permissions and |
| 13 | +// limitations under the License. |
| 14 | + |
| 15 | + |
| 16 | +#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__ASSISTED_TELEOP_ACTION_HPP_ |
| 17 | +#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__ASSISTED_TELEOP_ACTION_HPP_ |
| 18 | + |
| 19 | +#include <string> |
| 20 | + |
| 21 | +#include "nav2_behavior_tree/bt_action_node.hpp" |
| 22 | +#include "nav2_msgs/action/assisted_teleop.hpp" |
| 23 | + |
| 24 | +namespace nav2_behavior_tree |
| 25 | +{ |
| 26 | + |
| 27 | +/** |
| 28 | + * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::AssistedTeleop |
| 29 | + */ |
| 30 | +class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTeleop> |
| 31 | +{ |
| 32 | +public: |
| 33 | + /** |
| 34 | + * @brief A constructor for nav2_behavior_tree::nav2_msgs::action::AssistedTeleop |
| 35 | + * @param xml_tag_name Name for the XML tag for this node |
| 36 | + * @param action_name Action name this node creates a client for |
| 37 | + * @param conf BT node configuration |
| 38 | + */ |
| 39 | + AssistedTeleopAction( |
| 40 | + const std::string & xml_tag_name, |
| 41 | + const std::string & action_name, |
| 42 | + const BT::NodeConfiguration & conf); |
| 43 | + |
| 44 | + /** |
| 45 | + * @brief Function to perform some user-defined operation on tick |
| 46 | + */ |
| 47 | + void on_tick() override; |
| 48 | + |
| 49 | + BT::NodeStatus on_aborted() override; |
| 50 | + |
| 51 | + /** |
| 52 | + * @brief Creates list of BT ports |
| 53 | + * @return BT::PortsList Containing basic ports along with node-specific ports |
| 54 | + */ |
| 55 | + static BT::PortsList providedPorts() |
| 56 | + { |
| 57 | + return providedBasicPorts( |
| 58 | + { |
| 59 | + BT::InputPort<double>("time_allowance", 10.0, "Allowed time for running assisted teleop"), |
| 60 | + BT::InputPort<bool>("is_recovery", false, "If true the recovery count will be incremented") |
| 61 | + }); |
| 62 | + } |
| 63 | + |
| 64 | +private: |
| 65 | + bool is_recovery_; |
| 66 | +}; |
| 67 | + |
| 68 | +} // namespace nav2_behavior_tree |
| 69 | + |
| 70 | +#endif // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__ASSISTED_TELEOP_ACTION_HPP_ |
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