Removed the async actions and conditions.

Used the module name space as a prefix for the actions and conditions names.

include/tiago_head_module/tiago_head_bt_module.h

@@ -65,35 +65,7 @@ class CTiagoHeadModuleBT
       * If inputs are missing or incorrect it also returns BT:NodeStatus::FAILURE.
       *
       */
-    BT::NodeStatus sync_tiago_head_point_to_pointstamped(BT::TreeNode& self);
-
-    /**
-      * \brief Async point_to TIAGo head function.
-      *
-      * This function calls point_to of tiago_head_module. As this is
-      * an asynchronous action is_tiago_head_finished() is checked to know when the action
-      * has actually finished.
-      *
-      * It has the following input ports:
-      *
-      *   point (geometry_msgs::PointStamped): The target Point.
-      *
-      *   duration (double): [Optional] Time from start to move the head.
-      *
-      * It also has a bidirectional port:
-      *
-      *   new_goal (bool): If it's a new_goal.
-      *
-      * \param self node with the required inputs defined as follows:
-      *
-      * \return a BT:NodeStatus indicating whether the request has been
-      * successfull and the action has finished (BT:NodeStatus::SUCCESS) or the
-      * request has been unsuccessfull (BT:NodeStatus::FAILURE) or it is still
-      * in progress (BT:NodeStatus::RUNNING). If inputs are missing or incorrect
-      * it also returns BT:NodeStatus::FAILURE
-      *
-      */
-    BT::NodeStatus async_tiago_head_point_to_pointstamped(BT::TreeNode& self);
+    BT::NodeStatus tiago_head_point_to_pointstamped(BT::TreeNode& self);
 
     /**
       * \brief Synchronized point_to TIAGo head function.
@@ -123,43 +95,7 @@ class CTiagoHeadModuleBT
       * If inputs are missing or incorrect it also returns BT:NodeStatus::FAILURE.
       *
       */
-    BT::NodeStatus sync_tiago_head_point_to(BT::TreeNode& self);
-
-    /**
-      * \brief Async point_to TIAGo head function.
-      *
-      * This function calls point_to of tiago_head_module. As this is
-      * an asynchronous action is_tiago_head_finished() is checked to know when the action
-      * has actually finished.
-      *
-      * It has the following input ports:
-      *
-      *   x (double): The target Point x coordenate.
-      *
-      *   y (double): The target Point y coordenate.
-      *
-      *   z (double): The target Point z coordenate.
-      *
-      *   frame_id (std::string): The target Point reference frame id.
-      *
-      *   time (ros:Time): Time at which the desired coordinate was defined
-      *
-      *   duration (double): [Optional] Time from start to move the head.
-      *
-      * It also has a bidirectional port:
-      *
-      *   new_goal (bool): If it's a new_goal.
-      *
-      * \param self node with the required inputs defined as follows:
-      *
-      * \return a BT:NodeStatus indicating whether the request has been
-      * successfull and the action has finished (BT:NodeStatus::SUCCESS) or the
-      * request has been unsuccessfull (BT:NodeStatus::FAILURE) or it is still
-      * in progress (BT:NodeStatus::RUNNING). If inputs are missing or incorrect
-      * it also returns BT:NodeStatus::FAILURE
-      *
-      */
-    BT::NodeStatus async_tiago_head_point_to(BT::TreeNode& self);
+    BT::NodeStatus tiago_head_point_to(BT::TreeNode& self);
 
     /**
       * \brief Synchronized move_to TIAGo head function.
@@ -183,37 +119,7 @@ class CTiagoHeadModuleBT
       * If inputs are missing or incorrect it also returns BT:NodeStatus::FAILURE.
       *
       */
-    BT::NodeStatus sync_tiago_head_move_to(BT::TreeNode& self);
-
-    /**
-      * \brief Async move_to TIAGo head function.
-      *
-      * This function calls move_to of tiago_head_module. As this is
-      * an asynchronous action is_tiago_head_finished() is checked to know when the action
-      * has actually finished.
-      *
-      * It has the following input ports:
-      *
-      *   pan (double): Desired angle for the pan joint in radians.
-      *
-      *   tilt (double): Desired angle for the tilt joint in radians.
-      *
-      *   duration (double): [Optional] Time from start to move the head.
-      *
-      * It also has a bidirectional port:
-      *
-      *   new_goal (bool): If it's a new_goal.
-      *
-      * \param self node with the required inputs defined as follows:
-      *
-      * \return a BT:NodeStatus indicating whether the request has been
-      * successfull and the action has finished (BT:NodeStatus::SUCCESS) or the
-      * request has been unsuccessfull (BT:NodeStatus::FAILURE) or it is still
-      * in progress (BT:NodeStatus::RUNNING). If inputs are missing or incorrect
-      * it also returns BT:NodeStatus::FAILURE
-      *
-      */
-    BT::NodeStatus async_tiago_head_move_to(BT::TreeNode& self);
+    BT::NodeStatus tiago_head_move_to(BT::TreeNode& self);
 
     /**
       * \brief Synchronized move_to TIAGo head function.
@@ -237,37 +143,7 @@ class CTiagoHeadModuleBT
       * If inputs are missing or incorrect it also returns BT:NodeStatus::FAILURE.
       *
       */
-    BT::NodeStatus sync_tiago_head_move_to_trajectory(BT::TreeNode& self);
-
-    /**
-      * \brief Async move_to TIAGo head function.
-      *
-      * This function calls move_to of tiago_head_module. As this is
-      * an asynchronous action is_tiago_head_finished() is checked to know when the action
-      * has actually finished.
-      *
-      * It has the following input ports:
-      *
-      *   pan (std::vector<double>): Desired angles for the pan joint in radians.
-      *
-      *   tilt (std::vector<double>): Desired angles for the tilt joint in radians.
-      *
-      *   duration (std::vector<double>): Times from start to move the head.
-      *
-      * It also has a bidirectional port:
-      *
-      *   new_goal (bool): If it's a new_goal.
-      *
-      * \param self node with the required inputs defined as follows:
-      *
-      * \return a BT:NodeStatus indicating whether the request has been
-      * successfull and the action has finished (BT:NodeStatus::SUCCESS) or the
-      * request has been unsuccessfull (BT:NodeStatus::FAILURE) or it is still
-      * in progress (BT:NodeStatus::RUNNING). If inputs are missing or incorrect
-      * it also returns BT:NodeStatus::FAILURE
-      *
-      */
-    BT::NodeStatus async_tiago_head_move_to_trajectory(BT::TreeNode& self);
+    BT::NodeStatus tiago_head_move_to_trajectory(BT::TreeNode& self);
 
     /**
       * \brief Synchronized move_to_by_topic TIAGo head function.
@@ -289,7 +165,7 @@ class CTiagoHeadModuleBT
       * If inputs are missing or incorrect it also returns BT:NodeStatus::FAILURE.
       *
       */
-    BT::NodeStatus sync_tiago_head_move_to_by_topic(BT::TreeNode& self);
+    BT::NodeStatus tiago_head_move_to_by_topic(BT::TreeNode& self);
 
     /**
       * \brief Synchronized move_relative_angles_by_topic TIAGo head function.
@@ -311,7 +187,7 @@ class CTiagoHeadModuleBT
       * If inputs are missing or incorrect it also returns BT:NodeStatus::FAILURE.
       *
       */
-    BT::NodeStatus sync_tiago_head_move_relative_angles_by_topic(BT::TreeNode& self);
+    BT::NodeStatus tiago_head_move_relative_angles_by_topic(BT::TreeNode& self);
 
     /**
       * \brief Synchronized set_workspace TIAGo head function.
@@ -361,23 +237,7 @@ class CTiagoHeadModuleBT
       * If inputs are missing or incorrect it also returns BT:NodeStatus::FAILURE.
       *
       */
-    BT::NodeStatus sync_cancel_tiago_head_action(void);
-
-    /**
-      * \brief Async stop TIAGo head function.
-      *
-      * This function calls stop of tiago_head_module. As this is
-      * an asynchronous action is_tiago_head_finished() is checked to know when the action
-      * has actually finished.
-      *
-      * \return a BT:NodeStatus indicating whether the request has been
-      * successfull and the action has finished (BT:NodeStatus::SUCCESS) or the
-      * request has been unsuccessfull (BT:NodeStatus::FAILURE) or it is still
-      * in progress (BT:NodeStatus::RUNNING). If inputs are missing or incorrect
-      * it also returns BT:NodeStatus::FAILURE
-      *
-      */
-    BT::NodeStatus async_cancel_tiago_head_action(void);
+    BT::NodeStatus cancel_tiago_head_action(void);
 
     /**
       * \brief Checks if the module is idle and there isn't any new movement request.
@@ -391,19 +251,6 @@ class CTiagoHeadModuleBT
       */
     BT::NodeStatus is_tiago_head_finished(void);
 
-    /**
-      * \brief Checks if the module is idle and there isn't any new movement request.
-      *
-      * This function must be used when any sync action is called and 
-      * a BT timeout is used.
-      *
-      * \return a BT:NodeStatus indicating whether the last movement has
-      * ended (BT:NodeStatus::SUCCESS) or not (BT:NodeStatus::RUNNING),
-      * regardless of its success or not.
-      *
-      */
-    BT::NodeStatus async_is_tiago_head_finished(void);
-
     ///TIAGo head module status
     /**
       * \brief Checks if the module is active and operating properly.