From 2a8eddef868c6db31f795080680a86616966124f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20Enrique=20Dom=C3=ADnguez?=
<jdominguez@iri.upc.edu>
Date: Tue, 14 Jan 2020 18:36:52 +0100
Subject: [PATCH] is_distance_reached action -> condition
---
src/iri_ana_nav_module_bt.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/iri_ana_nav_module_bt.cpp b/src/iri_ana_nav_module_bt.cpp
index e32761d..aaadd20 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)
--
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