is_distance_reached action -> condition

src/iri_ana_nav_module_bt.cpp

@@ -47,6 +47,7 @@ void CIriAnaNavModuleBT::init(IriBehaviorTreeFactory &factory)
   factory.registerSimpleCondition("is_no_odom",  std::bind(&CIriAnaNavModuleBT::is_no_odom, this));
   factory.registerSimpleCondition("is_no_transform",  std::bind(&CIriAnaNavModuleBT::is_no_transform, this));
   factory.registerSimpleCondition("costmap_is_auto_clear_enabled",  std::bind(&CIriAnaNavModuleBT::costmap_is_auto_clear_enabled, this));
+  factory.registerSimpleCondition("is_distance_reached",  std::bind(&CIriAnaNavModuleBT::is_distance_reached, this, std::placeholders::_1), distance_reached_port);
   // registry of synchronous actions
   factory.registerSimpleAction("sync_go_to_orientation",  std::bind(&CIriAnaNavModuleBT::sync_go_to_orientation, this, std::placeholders::_1), sync_orientation_port);
   factory.registerSimpleAction("sync_go_to_position",  std::bind(&CIriAnaNavModuleBT::sync_go_to_position, this, std::placeholders::_1), sync_position_port);
@@ -66,7 +67,6 @@ void CIriAnaNavModuleBT::init(IriBehaviorTreeFactory &factory)
   factory.registerIriAsyncAction("async_go_to_pose",  std::bind(&CIriAnaNavModuleBT::async_go_to_pose, this, std::placeholders::_1), async_pose_port);
   factory.registerIriAsyncAction("NOP",  std::bind(&CIriAnaNavModuleBT::NOP, this));
   factory.registerIriAsyncAction("succeded_or_recovery",  std::bind(&CIriAnaNavModuleBT::succeded_or_recovery, this, std::placeholders::_1), success_port);
-  factory.registerIriAsyncAction("is_distance_reached",  std::bind(&CIriAnaNavModuleBT::is_distance_reached, this, std::placeholders::_1), distance_reached_port);
 }
 
 CIriAnaNavModuleBT::~CIriAnaNavModuleBT(void)