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spin_action.cpp
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spin_action.cpp
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// Copyright (c) 2018 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__SPIN_ACTION_HPP_
#define NAV2_BEHAVIOR_TREE__SPIN_ACTION_HPP_
#include <string>
#include <memory>
#include <cmath>
#include "nav2_behavior_tree/bt_action_node.hpp"
#include "nav2_msgs/action/spin.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "tf2/LinearMath/Quaternion.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
namespace nav2_behavior_tree
{
class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
{
public:
SpinAction(
const std::string & xml_tag_name,
const std::string & action_name,
const BT::NodeConfiguration & conf)
: BtActionNode<nav2_msgs::action::Spin>(xml_tag_name, action_name, conf)
{
double dist;
getInput("spin_dist", dist);
goal_.target_yaw = dist;
}
static BT::PortsList providedPorts()
{
return providedBasicPorts(
{
BT::InputPort<double>("spin_dist", 1.57, "Spin distance")
});
}
};
} // namespace nav2_behavior_tree
#include "behaviortree_cpp_v3/bt_factory.h"
BT_REGISTER_NODES(factory)
{
BT::NodeBuilder builder =
[](const std::string & name, const BT::NodeConfiguration & config)
{
return std::make_unique<nav2_behavior_tree::SpinAction>(name, "spin", config);
};
factory.registerBuilder<nav2_behavior_tree::SpinAction>("Spin", builder);
}
#endif // NAV2_BEHAVIOR_TREE__SPIN_ACTION_HPP_