Initial Commit

mg_bt/include/mg_bt/MoveStraightBehavior.hpp

@@ -0,0 +1,30 @@
+#include "behaviortree_ros2/bt_action_node.hpp"
+#include "mg_msgs/action/move_straight.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+
+
+class MoveStraightAction : public BT::RosActionNode<mg_msgs::action::MoveStraight>
+{
+public:
+  MoveStraightAction(const std::string& name, const BT::NodeConfig& conf,
+              const BT::RosNodeParams& params)
+    : BT::RosActionNode<mg_msgs::action::MoveStraight>(name, conf, params)
+  {}
+
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts({ 
+      BT::InputPort<double>("distance"),
+      BT::InputPort<double>("tolerance", 0.1, {}) 
+      });
+  }
+
+  bool setGoal(Goal& goal) override;
+
+  void onHalt() override;
+
+  BT::NodeStatus onResultReceived(const WrappedResult& wr) override;
+
+  virtual BT::NodeStatus onFailure(BT::ActionNodeErrorCode error) override;
+};