waypoint_action.hpp

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#ifndef _WAYPOINT_ACTION_HPP
#define _WAYPOINT_ACTION_HPP
 
#include <planner_msgs/action/pdla.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
 
#include "behavior_tree/common/ros_action_node.hpp"
 
namespace behavior_tree
{
 
class WaypointAction : public RosActionNode<planner_msgs::action::PDLA>
{
public:
  WaypointAction(
    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();
 
  bool setGoal(typename Action::Goal & goal) override;
 
  BT::NodeStatus onResult(const WrappedResult & wr) override;
 
  void onFeedback(const std::shared_ptr<const Feedback> feedback) override;
 
private:
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr logger_pub_;
};
 
}  // namespace behavior_tree
 
#endif  // _WAYPOINT_ACTION_HPP