navigate.hpp

// Copyright 2026 Intelligent Robotics Lab
//
// This file is part of the project EasyFleet
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef EASYFLEET_EASYNAV_NAVIGATION__BT_NODES__NAVIGATE_HPP_
#define EASYFLEET_EASYNAV_NAVIGATION__BT_NODES__NAVIGATE_HPP_
 
#include <map>
#include <memory>
#include <string>
 
#include "behaviortree_cpp/action_node.h"
#include "easynav_system/GoalManagerClient.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
 
namespace easyfleet_easynav_navigation
{

class Navigate : public BT::StatefulActionNode
{
public:
  Navigate(const std::string & name, const BT::NodeConfig & config);

  static BT::PortsList providedPorts();

  BT::NodeStatus onStart() override;
  BT::NodeStatus onRunning() override;
  void onHalted() override;
 
private:
  std::shared_ptr<const std::map<std::string, geometry_msgs::msg::PoseStamped>> waypoints_;
  easynav::GoalManagerClient::SharedPtr gm_client_;
  std::string last_goal_id_;
};
 
}  // namespace easyfleet_easynav_navigation
 
#endif  // EASYFLEET_EASYNAV_NAVIGATION__BT_NODES__NAVIGATE_HPP_