// Copyright (c) 2022 Neobotix GmbH

//

// 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.

#include <string>

#include <memory>

#include "std_msgs/msg/string.hpp"

#include "nav2_behavior_tree/plugins/action/controller_cancel_node.hpp"

namespace nav2_behavior_tree

{

ControllerCancel::ControllerCancel(

const std::string & xml_tag_name,

const std::string & action_name,

const BT::NodeConfiguration & conf)

: BtCancelActionNode<nav2_msgs::action::FollowPath>(xml_tag_name, action_name, conf)

{

}

} // namespace nav2_behavior_tree

#include "behaviortree_cpp/bt_factory.h"

BT_REGISTER_NODES(factory)

{

BT::NodeBuilder builder =

[](const std::string & name, const BT::NodeConfiguration & config)

{

return std::make_unique<nav2_behavior_tree::ControllerCancel>(

name, "follow_path", config);

};

factory.registerBuilder<nav2_behavior_tree::ControllerCancel>(

"CancelControl", builder);

}