From 74dd39fd6932f11abae1a02cbcd68579638b0f47 Mon Sep 17 00:00:00 2001
From: bpwilcox <bpwilcox@eng.ucsd.edu>
Date: Fri, 4 Oct 2019 15:05:32 -0700
Subject: [PATCH] allow params for wait_action
---
.../include/nav2_behavior_tree/wait_action.hpp | 11 +++++++++--
1 file changed, 9 insertions(+), 2 deletions(-)
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/wait_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/wait_action.hpp
index 79b1c65f..ca4072db 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/wait_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/wait_action.hpp
@@ -28,8 +28,8 @@ namespace nav2_behavior_tree
class WaitAction : public BtActionNode<nav2_msgs::action::Wait>
{
public:
- explicit WaitAction(const std::string & action_name)
- : BtActionNode<nav2_msgs::action::Wait>(action_name)
+ explicit WaitAction(const std::string & action_name, const BT::NodeParameters & params)
+ : BtActionNode<nav2_msgs::action::Wait>(action_name, params)
{
}
@@ -45,6 +45,13 @@ public:
goal_.time.sec = duration;
}
+
+ // Any BT node that accepts parameters must provide a requiredNodeParameters method
+ static const BT::NodeParameters & requiredNodeParameters()
+ {
+ static BT::NodeParameters params = {{"wait_duration", "1"}};
+ return params;
+ }
};
} // namespace nav2_behavior_tree
--
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