Added simple translation behavior

toid_behaviors/include/toid_behaviors/simple_translate_x.hpp

@@ -0,0 +1,53 @@
+#pragma once
+
+#include "toid_behaviors/simple_move.hpp"
+#include "toid_msgs/action/simple_translate_x.hpp"
+
+namespace toid
+{
+using TranslateAction = toid_msgs::action::SimpleTranslateX;
+using namespace nav2_behaviors;
+
+class SimpleTranslateXBehavior : public SimpleMove<TranslateAction>
+{
+public:
+  SimpleTranslateXBehavior();
+  ~SimpleTranslateXBehavior();
+
+  void configureCB() override;
+
+  ResultStatus onStart(
+    const std::shared_ptr<const TranslateAction::Goal> command, const geometry_msgs::msg::Pose & pose,
+    const geometry_msgs::msg::Twist & vel) override;
+
+  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() override {
+    return nav2_core::CostmapInfoType::NONE;
+  }
+
+protected:
+
+  //Goal
+  double target_distance_;
+  double target_angle_;
+  double target_sign_;
+  geometry_msgs::msg::Pose initial_pose_;
+
+  //State
+  double speed_;
+
+  //Config
+  double max_vel_accel_;
+  double max_vel_decel_;
+  double max_vel_speed_;
+  double min_vel_speed_;
+  double max_angular_speed_;
+
+  double kp_;
+};
+
+}  // namespace toid
+