Completed implementation of initial rotate behavior

toid_behaviors/include/toid_behaviors/simple_move.hpp

@@ -41,6 +41,7 @@ public:
         current_vel_ = msg.twist.twist;
       });
     control_duration_ = 1.0 / this->cycle_frequency_;
+    configureCB();
   }
 
   void onCleanup() override

toid_behaviors/include/toid_behaviors/simple_rotate.hpp

@@ -12,6 +12,7 @@ class SimpleRotateBehavior : public SimpleMove<RotateAction>
 {
 public:
   SimpleRotateBehavior();
+  ~SimpleRotateBehavior();
 
   void configureCB() override;
 
@@ -22,6 +23,10 @@ public:
   ResultStatus updateVel(
     const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Twist & vel,
     geometry_msgs::msg::Twist & out_vel) override;
+  
+  virtual nav2_core::CostmapInfoType getResourceInfo() {
+    return nav2_core::CostmapInfoType::NONE;
+  }
 
 protected:
 
@@ -33,11 +38,13 @@ protected:
   //State
   double angular_speed_;
   double last_angle_;
+  double last_time_;
 
   //Config
   double max_angular_speed_;
   double min_angular_speed_;
   double max_angular_accel_;
+  double max_angular_decel_;
 };
 
 }  // namespace toid