diff --git a/src/iri_ana_nav_module_bt.cpp b/src/iri_ana_nav_module_bt.cpp index e32761df52ea73360bb695b7dd58f4c369e423db..aaadd2004145355a72dd66501b2a985b1b57c124 100644 --- a/src/iri_ana_nav_module_bt.cpp +++ b/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)