X-lanni
56 lines
1.4 KiB
C++
56 lines
1.4 KiB
C++
// Copyright (c) 2019 Samsung Research America
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <chrono>
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#include <memory>
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#include "nav2_behaviors/plugins/wait.hpp"
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namespace nav2_behaviors
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{
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Wait::Wait()
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: TimedBehavior<WaitAction>(),
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feedback_(std::make_shared<WaitAction::Feedback>())
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{
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}
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Wait::~Wait() = default;
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Status Wait::onRun(const std::shared_ptr<const WaitAction::Goal> command)
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{
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wait_end_ = node_.lock()->now() + rclcpp::Duration(command->time);
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return Status::SUCCEEDED;
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}
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Status Wait::onCycleUpdate()
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{
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auto current_point = node_.lock()->now();
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auto time_left = wait_end_ - current_point;
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feedback_->time_left = time_left;
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action_server_->publish_feedback(feedback_);
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if (time_left.nanoseconds() > 0) {
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return Status::RUNNING;
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} else {
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return Status::SUCCEEDED;
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}
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}
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} // namespace nav2_behaviors
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#include "pluginlib/class_list_macros.hpp"
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PLUGINLIB_EXPORT_CLASS(nav2_behaviors::Wait, nav2_core::Behavior)
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