SMACC2
cb_retry_behavior.hpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 ******************************************************************************************************************/
20#pragma once
21
23#include <optional>
25
26namespace cl_nav2z
27{
28using odom_tracker::OdomTracker;
29
30template <typename TCbRelativeMotion>
32{
33public:
35 void onEntry() override
36 {
37 odomTracker_ = this->moveBaseClient_->template getComponent<OdomTracker>();
39
40 if (goal)
41 {
42 this->goalPose_ = *goal;
43 }
44
45 TCbRelativeMotion::onEntry();
46 }
47
48private:
50};
51} // namespace cl_nav2z
OdomTracker * odomTracker_
void onEntry() override
std::optional< geometry_msgs::msg::PoseStamped > getCurrentMotionGoal()