lifecycle_manager.hpp

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#ifndef _LIFECYCLE_MANAGER_HPP
#define _LIFECYCLE_MANAGER_HPP
 
#include <behaviortree_cpp/action_node.h>
 
#include <lifecycle_msgs/srv/change_state.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
 
namespace behavior_tree
{
 
class LifecycleManager : public BT::StatefulActionNode
{
public:
  LifecycleManager(
    const std::string & name, const BT::NodeConfig & config,
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr logger_pub,
    rclcpp::Node::SharedPtr ros_node);
 
  static BT::PortsList providedPorts();
 
  BT::NodeStatus onStart() override;
 
  BT::NodeStatus onRunning() override;
 
  void onHalted() override;
 
private:
  rclcpp::Node::SharedPtr ros_node_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr logger_pub_;
  rclcpp::Client<lifecycle_msgs::srv::ChangeState>::SharedPtr change_state_client_;
 
  std::shared_future<lifecycle_msgs::srv::ChangeState::Response::SharedPtr> future_response_;
 
  std::string last_service_name_;
  std::map<std::string, uint8_t> transition_map_;
};
 
}  // namespace behavior_tree
 
#endif