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Add server_name parameter to BtActionNode #1616

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Merged
SteveMacenski merged 1 commit into from
Mar 29, 2020
Merged

Add server_name parameter to BtActionNode #1616

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7 changes: 6 additions & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,10 @@ class BtActionNode : public BT::ActionNodeBase
goal_ = typename ActionT::Goal();
result_ = typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult();

std::string remapped_action_name;
if (getInput("server_name", remapped_action_name)) {
action_name_ = remapped_action_name;
}
createActionClient(action_name_);

// Give the derive class a chance to do any initialization
Expand Down Expand Up @@ -69,6 +73,7 @@ class BtActionNode : public BT::ActionNodeBase
static BT::PortsList providedBasicPorts(BT::PortsList addition)
{
BT::PortsList basic = {
BT::InputPort<std::string>("server_name", "Action server name"),
BT::InputPort<std::chrono::milliseconds>("server_timeout")
};
basic.insert(addition.begin(), addition.end());
Expand Down Expand Up @@ -233,7 +238,7 @@ class BtActionNode : public BT::ActionNodeBase
}
}

const std::string action_name_;
std::string action_name_;
typename std::shared_ptr<rclcpp_action::Client<ActionT>> action_client_;

// All ROS2 actions have a goal and a result
Expand Down
6 changes: 0 additions & 6 deletions nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
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Expand Up @@ -34,11 +34,6 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
const BT::NodeConfiguration & conf)
: BtActionNode<nav2_msgs::action::ComputePathToPose>(xml_tag_name, action_name, conf)
{
std::string remapped_action_name;
if (getInput("server_name", remapped_action_name)) {
action_client_.reset();
createActionClient(remapped_action_name);
}
}

void on_tick() override
Expand Down Expand Up @@ -66,7 +61,6 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
BT::OutputPort<nav_msgs::msg::Path>("path", "Path created by ComputePathToPose node"),
BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to"),
BT::InputPort<std::string>("planner_id", ""),
BT::InputPort<std::string>("server_name", "")
});
}

Expand Down
6 changes: 0 additions & 6 deletions nav2_behavior_tree/plugins/action/follow_path_action.cpp
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Expand Up @@ -33,11 +33,6 @@ class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
const BT::NodeConfiguration & conf)
: BtActionNode<nav2_msgs::action::FollowPath>(xml_tag_name, action_name, conf)
{
std::string remapped_action_name;
if (getInput("server_name", remapped_action_name)) {
action_client_.reset();
createActionClient(remapped_action_name);
}
config().blackboard->set("path_updated", false);
}

Expand Down Expand Up @@ -67,7 +62,6 @@ class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
{
BT::InputPort<nav_msgs::msg::Path>("path", "Path to follow"),
BT::InputPort<std::string>("controller_id", ""),
BT::InputPort<std::string>("server_name", "")
});
}
};
Expand Down