diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/back_up_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/back_up_action.hpp
deleted file mode 100644
index 8eb8518cabf0d4fdfd50c0037e7965acdfba8d1a..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/back_up_action.hpp
+++ /dev/null
@@ -1,64 +0,0 @@
-// Copyright (c) 2018 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__BACK_UP_ACTION_HPP_
-#define NAV2_BEHAVIOR_TREE__BACK_UP_ACTION_HPP_
-
-#include <string>
-#include <memory>
-#include <cmath>
-
-#include "nav2_behavior_tree/bt_action_node.hpp"
-#include "nav2_msgs/action/back_up.hpp"
-
-namespace nav2_behavior_tree
-{
-
-class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
-{
-public:
- BackUpAction(
- const std::string & action_name,
- const BT::NodeConfiguration & conf)
- : BtActionNode<nav2_msgs::action::BackUp>(action_name, conf)
- {
- double dist;
- getInput("backup_dist", dist);
- double speed;
- getInput("backup_speed", speed);
-
- // silently fix, vector direction determined by distance sign
- if (speed < 0.0) {
- speed *= -1.0;
- }
-
- // Populate the input message
- goal_.target.x = dist;
- goal_.target.y = 0.0;
- goal_.target.z = 0.0;
- goal_.speed = speed;
- }
-
- static BT::PortsList providedPorts()
- {
- return providedBasicPorts({
- BT::InputPort<double>("backup_dist", -0.15, "Distance to backup"),
- BT::InputPort<double>("backup_speed", 0.025, "Speed at which to backup")
- });
- }
-};
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__BACK_UP_ACTION_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/clear_costmap_service.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/clear_costmap_service.hpp
deleted file mode 100644
index a0532980f92ebab5cd6e24a0329fc11267c45528..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/clear_costmap_service.hpp
+++ /dev/null
@@ -1,41 +0,0 @@
-// Copyright (c) 2019 Samsung Research America
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__CLEAR_COSTMAP_SERVICE_HPP_
-#define NAV2_BEHAVIOR_TREE__CLEAR_COSTMAP_SERVICE_HPP_
-
-#include <string>
-#include <memory>
-#include <cmath>
-
-#include "nav2_behavior_tree/bt_service_node.hpp"
-#include "nav2_msgs/srv/clear_entire_costmap.hpp"
-
-namespace nav2_behavior_tree
-{
-
-class ClearEntireCostmapService : public BtServiceNode<nav2_msgs::srv::ClearEntireCostmap>
-{
-public:
- ClearEntireCostmapService(
- const std::string & service_node_name,
- const BT::NodeConfiguration & conf)
- : BtServiceNode<nav2_msgs::srv::ClearEntireCostmap>(service_node_name, conf)
- {
- }
-};
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__CLEAR_COSTMAP_SERVICE_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/compute_path_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/compute_path_to_pose_action.hpp
deleted file mode 100644
index c6df35c1aa74ebcae6a8ec6a58a15586890b7479..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/compute_path_to_pose_action.hpp
+++ /dev/null
@@ -1,70 +0,0 @@
-// Copyright (c) 2018 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__COMPUTE_PATH_TO_POSE_ACTION_HPP_
-#define NAV2_BEHAVIOR_TREE__COMPUTE_PATH_TO_POSE_ACTION_HPP_
-
-#include <memory>
-#include <string>
-
-#include "nav2_msgs/action/compute_path_to_pose.hpp"
-#include "nav_msgs/msg/path.h"
-#include "nav2_behavior_tree/bt_action_node.hpp"
-
-namespace nav2_behavior_tree
-{
-
-class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePathToPose>
-{
-public:
- ComputePathToPoseAction(
- const std::string & action_name,
- const BT::NodeConfiguration & conf)
- : BtActionNode<nav2_msgs::action::ComputePathToPose>(action_name, conf)
- {
- }
-
- void on_tick() override
- {
- getInput("goal", goal_.pose);
- getInput("planner_property", goal_.planner_property);
- }
-
- void on_success() override
- {
- setOutput("path", result_.result->path);
-
- if (first_time_) {
- first_time_ = false;
- } else {
- config().blackboard->set("path_updated", true);
- }
- }
-
- static BT::PortsList providedPorts()
- {
- return providedBasicPorts({
- BT::OutputPort<nav_msgs::msg::Path>("path", "Path created by ComputePathToPose node"),
- BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to"),
- BT::InputPort<std::string>("planner_property", "")
- });
- }
-
-private:
- bool first_time_{true};
-};
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__COMPUTE_PATH_TO_POSE_ACTION_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/follow_path_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/follow_path_action.hpp
deleted file mode 100644
index 023cb3780bbae0a097aaa47305d74e0b6b107342..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/follow_path_action.hpp
+++ /dev/null
@@ -1,67 +0,0 @@
-// Copyright (c) 2018 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__FOLLOW_PATH_ACTION_HPP_
-#define NAV2_BEHAVIOR_TREE__FOLLOW_PATH_ACTION_HPP_
-
-#include <memory>
-#include <string>
-
-#include "nav2_msgs/action/follow_path.hpp"
-#include "nav2_behavior_tree/bt_action_node.hpp"
-
-namespace nav2_behavior_tree
-{
-
-class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
-{
-public:
- FollowPathAction(
- const std::string & action_name,
- const BT::NodeConfiguration & conf)
- : BtActionNode<nav2_msgs::action::FollowPath>(action_name, conf)
- {
- config().blackboard->set("path_updated", false);
- }
-
- void on_tick() override
- {
- getInput("path", goal_.path);
- }
-
- void on_server_timeout() override
- {
- // Check if the goal has been updated
- if (config().blackboard->get<bool>("path_updated")) {
- // Reset the flag in the blackboard
- config().blackboard->set("path_updated", false);
-
- // Grab the new goal and set the flag so that we send the new goal to
- // the action server on the next loop iteration
- getInput("path", goal_.path);
- goal_updated_ = true;
- }
- }
-
- static BT::PortsList providedPorts()
- {
- return providedBasicPorts({
- BT::InputPort<nav_msgs::msg::Path>("path", "Path to follow"),
- });
- }
-};
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__FOLLOW_PATH_ACTION_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/goal_reached_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/goal_reached_condition.hpp
deleted file mode 100644
index 73e657b16cb142cee6fd6952012ccc4f7f130c44..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/goal_reached_condition.hpp
+++ /dev/null
@@ -1,112 +0,0 @@
-// Copyright (c) 2019 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__GOAL_REACHED_CONDITION_HPP_
-#define NAV2_BEHAVIOR_TREE__GOAL_REACHED_CONDITION_HPP_
-
-#include <string>
-#include <memory>
-
-#include "rclcpp/rclcpp.hpp"
-#include "behaviortree_cpp_v3/condition_node.h"
-#include "nav2_util/robot_utils.hpp"
-#include "geometry_msgs/msg/pose_stamped.hpp"
-#include "tf2_ros/buffer.h"
-
-namespace nav2_behavior_tree
-{
-
-class GoalReachedCondition : public BT::ConditionNode
-{
-public:
- GoalReachedCondition(
- const std::string & condition_name,
- const BT::NodeConfiguration & conf)
- : BT::ConditionNode(condition_name, conf), initialized_(false)
- {
- }
-
- GoalReachedCondition() = delete;
-
- ~GoalReachedCondition()
- {
- cleanup();
- }
-
- BT::NodeStatus tick() override
- {
- if (!initialized_) {
- initialize();
- }
-
- if (isGoalReached()) {
- return BT::NodeStatus::SUCCESS;
- }
- return BT::NodeStatus::FAILURE;
- }
-
- void initialize()
- {
- node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
- node_->get_parameter_or<double>("goal_reached_tol", goal_reached_tol_, 0.25);
- tf_ = config().blackboard->get<std::shared_ptr<tf2_ros::Buffer>>("tf_buffer");
-
- initialized_ = true;
- }
-
- bool
- isGoalReached()
- {
- geometry_msgs::msg::PoseStamped current_pose;
-
- if (!nav2_util::getCurrentPose(current_pose, *tf_)) {
- RCLCPP_DEBUG(node_->get_logger(), "Current robot pose is not available.");
- return false;
- }
-
- geometry_msgs::msg::PoseStamped goal;
- getInput("goal", goal);
- double dx = goal.pose.position.x - current_pose.pose.position.x;
- double dy = goal.pose.position.y - current_pose.pose.position.y;
-
- if ( (dx * dx + dy * dy) <= (goal_reached_tol_ * goal_reached_tol_) ) {
- return true;
- } else {
- return false;
- }
- }
-
- static BT::PortsList providedPorts()
- {
- return {
- BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination")
- };
- }
-
-protected:
- void cleanup()
- {
- }
-
-private:
- rclcpp::Node::SharedPtr node_;
- std::shared_ptr<tf2_ros::Buffer> tf_;
-
- bool initialized_;
- double goal_reached_tol_;
-};
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__GOAL_REACHED_CONDITION_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/initial_pose_received_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/initial_pose_received_condition.hpp
deleted file mode 100644
index 58576a99c946daf4a39e55b99aaad141257c5b91..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/initial_pose_received_condition.hpp
+++ /dev/null
@@ -1,28 +0,0 @@
-// Copyright (c) 2019 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__INITIAL_POSE_RECEIVED_CONDITION_HPP_
-#define NAV2_BEHAVIOR_TREE__INITIAL_POSE_RECEIVED_CONDITION_HPP_
-
-#include "behaviortree_cpp_v3/behavior_tree.h"
-
-
-namespace nav2_behavior_tree
-{
-
-BT::NodeStatus initialPoseReceived(BT::TreeNode & tree_node);
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__INITIAL_POSE_RECEIVED_CONDITION_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/is_stuck_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/is_stuck_condition.hpp
deleted file mode 100644
index 29e6fe3833161a11a2c83c42b3f171e4d21578fb..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/is_stuck_condition.hpp
+++ /dev/null
@@ -1,169 +0,0 @@
-// Copyright (c) 2018 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__IS_STUCK_CONDITION_HPP_
-#define NAV2_BEHAVIOR_TREE__IS_STUCK_CONDITION_HPP_
-
-#include <string>
-#include <chrono>
-#include <cmath>
-#include <atomic>
-#include <memory>
-#include <deque>
-
-#include "rclcpp/rclcpp.hpp"
-#include "behaviortree_cpp_v3/condition_node.h"
-#include "nav_msgs/msg/odometry.hpp"
-
-using namespace std::chrono_literals; // NOLINT
-
-namespace nav2_behavior_tree
-{
-
-class IsStuckCondition : public BT::ConditionNode
-{
-public:
- IsStuckCondition(
- const std::string & condition_name,
- const BT::NodeConfiguration & conf)
- : BT::ConditionNode(condition_name, conf),
- is_stuck_(false),
- odom_history_size_(10),
- current_accel_(0.0),
- brake_accel_limit_(-10.0)
- {
- node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
-
- odom_sub_ = node_->create_subscription<nav_msgs::msg::Odometry>("odom",
- rclcpp::SystemDefaultsQoS(),
- std::bind(&IsStuckCondition::onOdomReceived, this, std::placeholders::_1));
-
- RCLCPP_DEBUG(node_->get_logger(), "Initialized an IsStuckCondition BT node");
-
- RCLCPP_INFO_ONCE(node_->get_logger(), "Waiting on odometry");
- }
-
- IsStuckCondition() = delete;
-
- ~IsStuckCondition()
- {
- RCLCPP_DEBUG(node_->get_logger(), "Shutting down IsStuckCondition BT node");
- }
-
- void onOdomReceived(const typename nav_msgs::msg::Odometry::SharedPtr msg)
- {
- RCLCPP_INFO_ONCE(node_->get_logger(), "Got odometry");
-
- while (odom_history_.size() >= odom_history_size_) {
- odom_history_.pop_front();
- }
-
- odom_history_.push_back(*msg);
-
- // TODO(orduno) #383 Move the state calculation and is stuck to robot class
- updateStates();
- }
-
- BT::NodeStatus tick() override
- {
- // TODO(orduno) #383 Once check for is stuck and state calculations are moved to robot class
- // this becomes
- // if (robot_state_.isStuck()) {
-
- if (is_stuck_) {
- logStuck("Robot got stuck!");
- return BT::NodeStatus::SUCCESS; // Successfully detected a stuck condition
- }
-
- logStuck("Robot is free");
- return BT::NodeStatus::FAILURE; // Failed to detected a stuck condition
- }
-
- void logStuck(const std::string & msg) const
- {
- static std::string prev_msg;
-
- if (msg == prev_msg) {
- return;
- }
-
- RCLCPP_INFO(node_->get_logger(), msg);
- prev_msg = msg;
- }
-
- void updateStates()
- {
- // Approximate acceleration
- // TODO(orduno) #400 Smooth out velocity history for better accel approx.
- if (odom_history_.size() > 2) {
- auto curr_odom = odom_history_.end()[-1];
- double curr_time = static_cast<double>(curr_odom.header.stamp.sec);
- curr_time += (static_cast<double>(curr_odom.header.stamp.nanosec)) * 1e-9;
-
- auto prev_odom = odom_history_.end()[-2];
- double prev_time = static_cast<double>(prev_odom.header.stamp.sec);
- prev_time += (static_cast<double>(prev_odom.header.stamp.nanosec)) * 1e-9;
-
- double dt = curr_time - prev_time;
- double vel_diff = static_cast<double>(
- curr_odom.twist.twist.linear.x - prev_odom.twist.twist.linear.x);
- current_accel_ = vel_diff / dt;
- }
-
- is_stuck_ = isStuck();
- }
-
- bool isStuck()
- {
- // TODO(orduno) #400 The robot getting stuck can result on different types of motion
- // depending on the state prior to getting stuck (sudden change in accel, not moving at all,
- // random oscillations, etc). For now, we only address the case where there is a sudden
- // harsh deceleration. A better approach to capture all situations would be to do a forward
- // simulation of the robot motion and compare it with the actual one.
-
- // Detect if robot bumped into something by checking for abnormal deceleration
- if (current_accel_ < brake_accel_limit_) {
- RCLCPP_DEBUG(node_->get_logger(), "Current deceleration is beyond brake limit."
- " brake limit: %.2f, current accel: %.2f", brake_accel_limit_, current_accel_);
-
- return true;
- }
-
- return false;
- }
-
- static BT::PortsList providedPorts() {return {};}
-
-private:
- // The node that will be used for any ROS operations
- rclcpp::Node::SharedPtr node_;
-
- std::atomic<bool> is_stuck_;
-
- // Listen to odometry
- rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
- // Store history of odometry measurements
- std::deque<nav_msgs::msg::Odometry> odom_history_;
- std::deque<nav_msgs::msg::Odometry>::size_type odom_history_size_;
-
- // Calculated states
- double current_accel_;
-
- // Robot specific paramters
- double brake_accel_limit_;
-};
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__IS_STUCK_CONDITION_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/navigate_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/navigate_to_pose_action.hpp
deleted file mode 100644
index 46f40fec5530664ab1d1b306a79167a57ff19c30..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/navigate_to_pose_action.hpp
+++ /dev/null
@@ -1,70 +0,0 @@
-// Copyright (c) 2018 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__NAVIGATE_TO_POSE_ACTION_HPP_
-#define NAV2_BEHAVIOR_TREE__NAVIGATE_TO_POSE_ACTION_HPP_
-
-#include <memory>
-#include <string>
-
-#include "geometry_msgs/msg/point.hpp"
-#include "geometry_msgs/msg/quaternion.hpp"
-#include "nav2_msgs/action/navigate_to_pose.hpp"
-#include "nav2_behavior_tree/bt_action_node.hpp"
-#include "nav2_behavior_tree/bt_conversions.hpp"
-
-namespace nav2_behavior_tree
-{
-
-class NavigateToPoseAction : public BtActionNode<nav2_msgs::action::NavigateToPose>
-{
-public:
- NavigateToPoseAction(
- const std::string & action_name,
- const BT::NodeConfiguration & conf)
- : BtActionNode<nav2_msgs::action::NavigateToPose>(action_name, conf)
- {
- }
-
- void on_tick() override
- {
- // Use the position and orientation fields from the XML attributes to initialize the goal
- geometry_msgs::msg::Point position;
- geometry_msgs::msg::Quaternion orientation;
-
- bool have_position = getInput("position", position);
- bool have_orientation = getInput("orientation", orientation);
-
- if (!have_position || !have_orientation) {
- RCLCPP_ERROR(node_->get_logger(),
- "NavigateToPoseAction: position or orientation not provided");
- }
-
- goal_.pose.pose.position = position;
- goal_.pose.pose.orientation = orientation;
- }
-
- // Any BT node that accepts parameters must provide a requiredNodeParameters method
- static BT::PortsList providedPorts()
- {
- return providedBasicPorts({
- BT::InputPort<geometry_msgs::msg::Point>("position", "0;0;0", "Position"),
- BT::InputPort<geometry_msgs::msg::Quaternion>("orientation", "0;0;0;0", "Orientation")
- });
- }
-};
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__NAVIGATE_TO_POSE_ACTION_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/random_crawl_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/random_crawl_action.hpp
deleted file mode 100644
index 9daecf5d934eaa258b5282895044621fb26348b9..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/random_crawl_action.hpp
+++ /dev/null
@@ -1,37 +0,0 @@
-// Copyright (c) 2018 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__RANDOM_CRAWL_ACTION_HPP_
-#define NAV2_BEHAVIOR_TREE__RANDOM_CRAWL_ACTION_HPP_
-
-#include <string>
-
-#include "nav2_behavior_tree/bt_action_node.hpp"
-#include "nav2_msgs/action/random_crawl.hpp"
-
-namespace nav2_behavior_tree
-{
-
-class RandomCrawlAction : public BtActionNode<nav2_msgs::action::RandomCrawl>
-{
-public:
- explicit RandomCrawlAction(const std::string & action_name)
- : BtActionNode<nav2_msgs::action::RandomCrawl>(action_name)
- {
- }
-};
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__RANDOM_CRAWL_ACTION_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/rate_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/rate_controller.hpp
deleted file mode 100644
index 7f4a0148891b1b088c7e53ca3349682583010475..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/rate_controller.hpp
+++ /dev/null
@@ -1,101 +0,0 @@
-// Copyright (c) 2018 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__RATE_CONTROLLER_HPP_
-#define NAV2_BEHAVIOR_TREE__RATE_CONTROLLER_HPP_
-
-#include <chrono>
-#include <string>
-
-#include "behaviortree_cpp_v3/decorator_node.h"
-
-namespace nav2_behavior_tree
-{
-
-class RateController : public BT::DecoratorNode
-{
-public:
- RateController(
- const std::string & name,
- const BT::NodeConfiguration & conf)
- : BT::DecoratorNode(name, conf)
- {
- double hz = 1.0;
- getInput("hz", hz);
- period_ = 1.0 / hz;
- }
-
- // Any BT node that accepts parameters must provide a requiredNodeParameters method
- static BT::PortsList providedPorts()
- {
- return {
- BT::InputPort<double>("hz", 10.0, "Rate")
- };
- }
-
-private:
- BT::NodeStatus tick() override;
-
- std::chrono::time_point<std::chrono::high_resolution_clock> start_;
- double period_;
-};
-
-static bool first_time{false};
-
-inline BT::NodeStatus RateController::tick()
-{
- if (status() == BT::NodeStatus::IDLE) {
- // Reset the starting point since we're starting a new iteration of
- // the rate controller (moving from IDLE to RUNNING)
- start_ = std::chrono::high_resolution_clock::now();
- first_time = true;
- }
-
- setStatus(BT::NodeStatus::RUNNING);
-
- // Determine how long its been since we've started this iteration
- auto now = std::chrono::high_resolution_clock::now();
- auto elapsed = now - start_;
-
- // Now, get that in seconds
- typedef std::chrono::duration<float> float_seconds;
- auto seconds = std::chrono::duration_cast<float_seconds>(elapsed);
-
- // If we've exceed the specified period, execute the child node
- if (first_time || seconds.count() >= period_) {
- first_time = false;
- const BT::NodeStatus child_state = child_node_->executeTick();
-
- switch (child_state) {
- case BT::NodeStatus::RUNNING:
- return BT::NodeStatus::RUNNING;
-
- case BT::NodeStatus::SUCCESS:
- child_node_->setStatus(BT::NodeStatus::IDLE);
- start_ = std::chrono::high_resolution_clock::now(); // Reset the timer
- return BT::NodeStatus::SUCCESS;
-
- case BT::NodeStatus::FAILURE:
- default:
- child_node_->setStatus(BT::NodeStatus::IDLE);
- return BT::NodeStatus::FAILURE;
- }
- }
-
- return status();
-}
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__RATE_CONTROLLER_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/recovery_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/recovery_node.hpp
deleted file mode 100644
index 2bcfc86489602b6c89c44b810c7e8384590c3972..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/recovery_node.hpp
+++ /dev/null
@@ -1,59 +0,0 @@
-// Copyright (c) 2019 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__RECOVERY_NODE_HPP_
-#define NAV2_BEHAVIOR_TREE__RECOVERY_NODE_HPP_
-
-#include <string>
-#include "behaviortree_cpp_v3/control_node.h"
-
-namespace nav2_behavior_tree
-{
-/**
- * @brief The RecoveryNode has only two children and returns SUCCESS if and only if the first child
- * returns SUCCESS.
- *
- * - If the first child returns FAILURE, the second child will be executed. After that the first
- * child is executed again if the second child returns SUCCESS.
- *
- * - If the first or second child returns RUNNING, this node returns RUNNING.
- *
- * - If the second child returns FAILURE, this control node will stop the loop and returns FAILURE.
- *
- */
-class RecoveryNode : public BT::ControlNode
-{
-public:
- RecoveryNode(const std::string & name, const BT::NodeConfiguration & conf);
-
- ~RecoveryNode() override = default;
-
- // Any BT node that accepts parameters must provide a requiredNodeParameters method
- static BT::PortsList providedPorts()
- {
- return {
- BT::InputPort<int>("number_of_retries", 1, "Number of retries")
- };
- }
-
-private:
- unsigned int current_child_idx_;
- unsigned int number_of_retries_;
- unsigned int retry_count_;
- BT::NodeStatus tick() override;
- void halt() override;
-};
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__RECOVERY_NODE_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/reinitialize_global_localization_service.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/reinitialize_global_localization_service.hpp
deleted file mode 100644
index d41ceb521510a4c1bdbd5c121067fd8aa5262d6d..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/reinitialize_global_localization_service.hpp
+++ /dev/null
@@ -1,41 +0,0 @@
-// Copyright (c) 2019 Samsung Research America
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__REINITIALIZE_GLOBAL_LOCALIZATION_SERVICE_HPP_
-#define NAV2_BEHAVIOR_TREE__REINITIALIZE_GLOBAL_LOCALIZATION_SERVICE_HPP_
-
-#include <string>
-#include <memory>
-#include <cmath>
-
-#include "nav2_behavior_tree/bt_service_node.hpp"
-#include "std_srvs/srv/empty.hpp"
-
-namespace nav2_behavior_tree
-{
-
-class ReinitializeGlobalLocalizationService : public BtServiceNode<std_srvs::srv::Empty>
-{
-public:
- ReinitializeGlobalLocalizationService(
- const std::string & service_node_name,
- const BT::NodeConfiguration & conf)
- : BtServiceNode<std_srvs::srv::Empty>(service_node_name, conf)
- {
- }
-};
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__REINITIALIZE_GLOBAL_LOCALIZATION_SERVICE_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/spin_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/spin_action.hpp
deleted file mode 100644
index 2324a917e434b2fce958116d58d780dc56f301dd..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/spin_action.hpp
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright (c) 2018 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__SPIN_ACTION_HPP_
-#define NAV2_BEHAVIOR_TREE__SPIN_ACTION_HPP_
-
-#include <string>
-#include <memory>
-#include <cmath>
-
-#include "nav2_behavior_tree/bt_action_node.hpp"
-#include "nav2_msgs/action/spin.hpp"
-#include "geometry_msgs/msg/quaternion.hpp"
-#include "tf2/LinearMath/Quaternion.h"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
-
-namespace nav2_behavior_tree
-{
-
-class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
-{
-public:
- SpinAction(
- const std::string & action_name,
- const BT::NodeConfiguration & conf)
- : BtActionNode<nav2_msgs::action::Spin>(action_name, conf)
- {
- double dist;
- getInput("spin_dist", dist);
- goal_.target_yaw = dist;
- }
-
- static BT::PortsList providedPorts()
- {
- return providedBasicPorts({
- BT::InputPort<double>("spin_dist", 1.57, "Spin distance")
- });
- }
-};
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__SPIN_ACTION_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/wait_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/wait_action.hpp
deleted file mode 100644
index 1bd4997f72fb62994b3fa49d52cbd44fedff992a..0000000000000000000000000000000000000000
--- a/nav2_behavior_tree/include/nav2_behavior_tree/wait_action.hpp
+++ /dev/null
@@ -1,58 +0,0 @@
-// Copyright (c) 2018 Samsung Research America
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAV2_BEHAVIOR_TREE__WAIT_ACTION_HPP_
-#define NAV2_BEHAVIOR_TREE__WAIT_ACTION_HPP_
-
-#include <string>
-#include <memory>
-#include <cmath>
-
-#include "nav2_behavior_tree/bt_action_node.hpp"
-#include "nav2_msgs/action/wait.hpp"
-
-namespace nav2_behavior_tree
-{
-
-class WaitAction : public BtActionNode<nav2_msgs::action::Wait>
-{
-public:
- WaitAction(
- const std::string & action_name,
- const BT::NodeConfiguration & conf)
- : BtActionNode<nav2_msgs::action::Wait>(action_name, conf)
- {
- int duration;
- getInput("wait_duration", duration);
- if (duration <= 0) {
- RCLCPP_WARN(node_->get_logger(), "Wait duration is negative or zero "
- "(%i). Setting to positive.", duration);
- duration *= -1;
- }
-
- goal_.time.sec = duration;
- }
-
- // Any BT node that accepts parameters must provide a requiredNodeParameters method
- static BT::PortsList providedPorts()
- {
- return providedBasicPorts({
- BT::InputPort<int>("wait_duration", 1, "Wait time")
- });
- }
-};
-
-} // namespace nav2_behavior_tree
-
-#endif // NAV2_BEHAVIOR_TREE__WAIT_ACTION_HPP_