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Add service_name input port ot is_path_valid #21

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Add service_name input port ot is_path_valid #21

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5 changes: 5 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,12 +58,17 @@ class IsPathValidCondition : public BT::ConditionNode
{
return {
BT::InputPort<nav_msgs::msg::Path>("path", "Path to Check"),
BT::InputPort<std::string>(
"service_name",
"is_path_valid",
"Name of the service to call, defaults to is_path_valid"),
BT::InputPort<std::chrono::milliseconds>("server_timeout")
};
}

private:
rclcpp::Node::SharedPtr node_;
std::string service_name_;
rclcpp::Client<nav2_msgs::srv::IsPathValid>::SharedPtr client_;
// The timeout value while waiting for a responce from the
// is path valid service
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1 change: 1 addition & 0 deletions nav2_behavior_tree/nav2_tree_nodes.xml
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Expand Up @@ -258,6 +258,7 @@

<Condition ID="IsPathValid">
<input_port name="path"> Path to validate </input_port>
<input_port name="service_name">Name of the service to call, defaults to is_path_valid</input_port>
<input_port name="server_timeout"> Server timeout </input_port>
</Condition>

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4 changes: 3 additions & 1 deletion nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp
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Expand Up @@ -26,10 +26,12 @@ IsPathValidCondition::IsPathValidCondition(
: BT::ConditionNode(condition_name, conf)
{
node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
client_ = node_->create_client<nav2_msgs::srv::IsPathValid>("is_path_valid");

server_timeout_ = config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);

getInput("service_name", service_name_);
client_ = node_->create_client<nav2_msgs::srv::IsPathValid>(service_name_);
}

BT::NodeStatus IsPathValidCondition::tick()
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