From fc86eddb2d9a8ff9512a3d36d20756d46786ce30 Mon Sep 17 00:00:00 2001
From: matt-chen <chenbo@yunji.ai>
Date: Thu, 24 Oct 2019 20:24:42 +0800
Subject: [PATCH] fix the unexpected override
---
.../include/nav2_behavior_tree/back_up_action.hpp | 4 ++--
.../include/nav2_behavior_tree/bt_action_node.hpp | 15 ++++++++++++---
.../nav2_behavior_tree/bt_service_node.hpp | 15 ++++++++++++---
.../compute_path_to_pose_action.hpp | 4 ++--
.../nav2_behavior_tree/follow_path_action.hpp | 4 ++--
.../navigate_to_pose_action.hpp | 4 ++--
.../include/nav2_behavior_tree/spin_action.hpp | 4 ++--
.../include/nav2_behavior_tree/wait_action.hpp | 4 ++--
8 files changed, 36 insertions(+), 18 deletions(-)
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
index abc421cb..3dd4e9b2 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/back_up_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/back_up_action.hpp
@@ -52,10 +52,10 @@ public:
static BT::PortsList providedPorts()
{
- return {
+ return providedBasicPorts({
BT::InputPort<double>("backup_dist", -0.15, "Distance to backup"),
BT::InputPort<double>("backup_speed", 0.025, "Speed at which to backup")
- };
+ });
}
};
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
index af4b70b5..e069794f 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -62,12 +62,21 @@ public:
{
}
- // Any BT node that accepts parameters must provide a requiredNodeParameters method
- static BT::PortsList providedPorts()
+ // Any subclass of BtActionNode that accepts parameters must provide a providedPorts method
+ // and call providedBasicPorts in it.
+ static BT::PortsList providedBasicPorts(BT::PortsList addition)
{
- return {
+ BT::PortsList basic = {
BT::InputPort<std::chrono::milliseconds>("server_timeout")
};
+ basic.insert(addition.begin(), addition.end());
+
+ return basic;
+ }
+
+ static BT::PortsList providedPorts()
+ {
+ return providedBasicPorts({});
}
// Derived classes can override any of the following methods to hook into the
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
index 2310c865..76fbdcdf 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -60,13 +60,22 @@ public:
{
}
- // Any BT node that accepts parameters must provide a requiredNodeParameters method
- static BT::PortsList providedPorts()
+ // Any subclass of BtServiceNode that accepts parameters must provide a providedPorts method
+ // and call providedBasicPorts in it.
+ static BT::PortsList providedBasicPorts(BT::PortsList addition)
{
- return {
+ BT::PortsList basic = {
BT::InputPort<std::string>("service_name", "please_set_service_name_in_BT_Node"),
BT::InputPort<std::chrono::milliseconds>("server_timeout")
};
+ basic.insert(addition.begin(), addition.end());
+
+ return basic;
+ }
+
+ static BT::PortsList providedPorts()
+ {
+ return providedBasicPorts({});
}
// The main override required by a BT service
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
index 91e8bc48..b967fee3 100644
--- 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
@@ -53,10 +53,10 @@ public:
static BT::PortsList providedPorts()
{
- return {
+ 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")
- };
+ });
}
private:
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
index 0ddcb3bb..28e4084b 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/follow_path_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/follow_path_action.hpp
@@ -56,9 +56,9 @@ public:
static BT::PortsList providedPorts()
{
- return {
+ return providedBasicPorts({
BT::InputPort<nav_msgs::msg::Path>("path", "Path to follow"),
- };
+ });
}
};
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
index e3dca52f..8868b5c5 100644
--- 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
@@ -58,10 +58,10 @@ public:
// Any BT node that accepts parameters must provide a requiredNodeParameters method
static BT::PortsList providedPorts()
{
- return {
+ 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")
- };
+ });
}
};
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/spin_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/spin_action.hpp
index 38c11dc3..f7da51f4 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/spin_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/spin_action.hpp
@@ -43,9 +43,9 @@ public:
static BT::PortsList providedPorts()
{
- return {
+ return providedBasicPorts({
BT::InputPort<double>("spin_dist", 1.57, "Spin distance")
- };
+ });
}
};
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 f31a8c28..deb76885 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/wait_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/wait_action.hpp
@@ -47,9 +47,9 @@ public:
// Any BT node that accepts parameters must provide a requiredNodeParameters method
static BT::PortsList providedPorts()
{
- return {
+ return providedBasicPorts({
BT::InputPort<int>("wait_duration", 1, "Wait time")
- };
+ });
}
};
--
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