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Fix time expired and distance traveled conditions
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nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp
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| @@ -0,0 +1,65 @@ | ||
| // Copyright (c) 2020 Sarthak Mittal | ||
| // Copyright (c) 2019 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. | ||
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| #ifndef NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__TRAVELED_CONDITION_HPP_ | ||
| #define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__TRAVELED_CONDITION_HPP_ | ||
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| #include <string> | ||
| #include <memory> | ||
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| #include "behaviortree_cpp_v3/condition_node.h" | ||
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| #include "rclcpp/rclcpp.hpp" | ||
| #include "geometry_msgs/msg/pose_stamped.hpp" | ||
| #include "tf2_ros/buffer.h" | ||
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| namespace nav2_behavior_tree | ||
| { | ||
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| class DistanceTraveledCondition : public BT::ConditionNode | ||
| { | ||
| public: | ||
| DistanceTraveledCondition( | ||
| const std::string & condition_name, | ||
| const BT::NodeConfiguration & conf); | ||
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| DistanceTraveledCondition() = delete; | ||
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| BT::NodeStatus tick() override; | ||
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| static BT::PortsList providedPorts() | ||
| { | ||
| return { | ||
| BT::InputPort<double>("distance", 1.0, "Distance"), | ||
| BT::InputPort<std::string>("global_frame", std::string("map"), "Global frame"), | ||
| BT::InputPort<std::string>("robot_base_frame", std::string("base_link"), "Robot base frame") | ||
| }; | ||
| } | ||
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| private: | ||
| rclcpp::Node::SharedPtr node_; | ||
| std::shared_ptr<tf2_ros::Buffer> tf_; | ||
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| geometry_msgs::msg::PoseStamped start_pose_; | ||
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| double distance_; | ||
| std::string global_frame_; | ||
| std::string robot_base_frame_; | ||
| bool first_tick_; | ||
| }; | ||
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| } // namespace nav2_behavior_tree | ||
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| #endif // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__TRAVELED_CONDITION_HPP_ |
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53
nav2_behavior_tree/plugins/condition/time_expired_condition.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| // Copyright (c) 2020 Sarthak Mittal | ||
| // Copyright (c) 2019 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. | ||
|
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| #ifndef NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__TIME_EXPIRED_CONDITION_HPP_ | ||
| #define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__TIME_EXPIRED_CONDITION_HPP_ | ||
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| #include <chrono> | ||
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| #include "behaviortree_cpp_v3/condition_node.h" | ||
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| namespace nav2_behavior_tree | ||
| { | ||
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| class TimeExpiredCondition : public BT::ConditionNode | ||
| { | ||
| public: | ||
| TimeExpiredCondition( | ||
| const std::string & condition_name, | ||
| const BT::NodeConfiguration & conf); | ||
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| TimeExpiredCondition() = delete; | ||
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| BT::NodeStatus tick() override; | ||
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| // Any BT node that accepts parameters must provide a requiredNodeParameters method | ||
| static BT::PortsList providedPorts() | ||
| { | ||
| return { | ||
| BT::InputPort<double>("seconds", 1.0, "Seconds") | ||
| }; | ||
| } | ||
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| private: | ||
| std::chrono::time_point<std::chrono::high_resolution_clock> start_; | ||
| double period_; | ||
| bool first_tick_; | ||
| }; | ||
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| } // namespace nav2_behavior_tree | ||
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| #endif // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__TIME_EXPIRED_CONDITION_HPP_ |