cb_spin.cpp

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// Copyright 2026 RobosoftAI Inc.
//
// 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.
 
#include <cl_nav2z/client_behaviors/cb_spin.hpp>
 
namespace cl_nav2z
{
 
CbSpin::CbSpin(float targetYaw, std::chrono::seconds timeAllowance)
: targetYaw_(targetYaw), timeAllowance_(timeAllowance)
{
}
 
void CbSpin::onEntry()
{
  Goal goal;
  goal.target_yaw = targetYaw_;
  goal.time_allowance = rclcpp::Duration(timeAllowance_);
 
  RCLCPP_INFO(
    getLogger(), "[%s] Spinning %f rad (collision-checked, behavior server)", getName().c_str(),
    static_cast<double>(targetYaw_));
 
  sendGoal(goal);
}
 
}  // namespace cl_nav2z