wrench_action.hpp

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#ifndef _WRENCH_ACTION_HPP
#define _WRENCH_ACTION_HPP
 
#include <behavior_tree/common/ros_action_node.hpp>
#include <wrench_action_sample_msgs/action/wrench.hpp>
 
namespace behavior_tree
{
 
class WrenchAction : public RosActionNode<wrench_action_sample_msgs::action::Wrench>
{
public:
  using Goal = wrench_action_sample_msgs::action::Wrench::Goal;
 
  WrenchAction(
    const std::string & name, const BT::NodeConfig & config, rclcpp::Node::SharedPtr ros_node);
 
  static BT::PortsList providedPorts();
 
  bool setGoal(Goal & goal) override;
 
  BT::NodeStatus onResult(const WrappedResult & wr) override;
};
 
}  // namespace behavior_tree
 
#endif