84 lines
2.6 KiB
C++
84 lines
2.6 KiB
C++
// #include "behavior_tree/BtService.hpp"
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// #include "behaviortree_ros2/bt_service_node.hpp"
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#include "behaviortree_ros2/bt_action_node.hpp"
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// #include "rbs_skill_interfaces/srv/rbs_bt.hpp"
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#include "rbs_skill_interfaces/action/rbs_bt.hpp"
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#include <behaviortree_cpp/tree_node.h>
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#include <behaviortree_ros2/plugins.hpp>
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#include <behaviortree_ros2/ros_node_params.hpp>
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#define STR_ACTION "do"
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#define STR_SID "sid"
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#define STR_COMMAND "command"
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#define NODE_NAME "rbs_interface"
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template<typename T> std::string to_string(const T &t)
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{
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std::stringstream ss;
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ss << t;
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return ss.str();
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}
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using namespace BT;
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using namespace std::chrono_literals;
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using RbssActionSrv = rbs_skill_interfaces::action::RbsBt;
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class RbssAction : public RosActionNode<RbssActionSrv> {
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public:
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RbssAction(const std::string &name, const NodeConfig &conf, const RosNodeParams ¶ms)
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: RosActionNode<RbssActionSrv>(name, conf, params) {
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m_action = getInput<std::string>(STR_ACTION).value();
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m_command = getInput<std::string>(STR_COMMAND).value();
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RCLCPP_INFO_STREAM(logger(), "Start node RbssAction: " + m_action + "/" + m_command);
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m_client = std::make_shared<rclcpp::AsyncParametersClient>(node_.lock(), NODE_NAME);
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while (!m_client->wait_for_service(1s)) {
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if (!rclcpp::ok()) {
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RCLCPP_ERROR(logger(), "Interrupted while waiting for the service. Exiting.");
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break;
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}
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RCLCPP_WARN(logger(), NODE_NAME " service not available, waiting again...");
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}
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}
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static BT::PortsList providedPorts() {
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return providedBasicPorts({
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BT::InputPort<std::string>(STR_SID),
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BT::InputPort<std::string>(STR_ACTION),
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BT::InputPort<std::string>(STR_COMMAND)
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});
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}
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bool setGoal(RosActionNode::Goal& goal) override {
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getInput(STR_ACTION, goal.action);
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getInput(STR_COMMAND, goal.command);
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getInput(STR_SID, goal.sid);
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m_action = goal.action;
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m_command = goal.command;
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m_i++;
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RCLCPP_INFO_STREAM(logger(), "setGoal: " + to_string(m_i) + ") " + goal.action + "/" + goal.command + " goal.sid = " + to_string(goal.sid));
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return true;
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}
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NodeStatus onResultReceived(const WrappedResult& wr) override {
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m_i++;
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RCLCPP_INFO_STREAM(logger(), "onResultReceived: " + to_string(m_i) + ") " + m_action + "/" + m_command + " wr.result->ok - " + to_string(wr.result->ok));
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if (!wr.result->ok) {
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return NodeStatus::FAILURE;
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}
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return NodeStatus::SUCCESS;
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}
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private:
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int m_i{0};
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std::string m_action{};
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std::string m_command{};
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std::shared_ptr<rclcpp::AsyncParametersClient> m_client;
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};
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CreateRosNodePlugin(RbssAction, "RbssAction")
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