Make CanTransform a ConditionNode

Michael Jeronimo · Michael Jeronimo · commit 61ae102b6182 · 2019-12-02T12:47:51.000-08:00
diff --git a/ros2_behavior_tree/include/ros2_behavior_tree/can_transform_node.hpp b/ros2_behavior_tree/include/ros2_behavior_tree/can_transform_node.hpp
@@ -18,7 +18,7 @@
 #include <string>
 #include <memory>
 
-#include "behaviortree_cpp_v3/action_node.h"
+#include "behaviortree_cpp_v3/condition_node.h"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
@@ -27,11 +27,11 @@
 namespace ros2_behavior_tree
 {
 
-class CanTransformNode : public BT::SyncActionNode
+class CanTransformNode : public BT::ConditionNode
 {
 public:
   CanTransformNode(const std::string & name, const BT::NodeConfiguration & config)
-  : BT::SyncActionNode(name, config)
+  : BT::ConditionNode(name, config)
   {
   }
 

Original file line number	Diff line number	Diff line change
`@@ -18,7 +18,7 @@`
`18`	`18`	`#include <string>`
`19`	`19`	`#include <memory>`
`20`	`20`
`21`		`-#include "behaviortree_cpp_v3/action_node.h"`
	`21`	`+#include "behaviortree_cpp_v3/condition_node.h"`
`22`	`22`	`#include "geometry_msgs/msg/pose_stamped.hpp"`
`23`	`23`	`#include "rclcpp/rclcpp.hpp"`
`24`	`24`	`#include "tf2_geometry_msgs/tf2_geometry_msgs.h"`
`@@ -27,11 +27,11 @@`
`27`	`27`	`namespace ros2_behavior_tree`
`28`	`28`	`{`
`29`	`29`
`30`		`-class CanTransformNode : public BT::SyncActionNode`
	`30`	`+class CanTransformNode : public BT::ConditionNode`
`31`	`31`	`{`
`32`	`32`	`public:`
`33`	`33`	`CanTransformNode(const std::string & name, const BT::NodeConfiguration & config)`
`34`		`- : BT::SyncActionNode(name, config)`
	`34`	`+ : BT::ConditionNode(name, config)`
`35`	`35`	`{`
`36`	`36`	`}`
`37`	`37`