adding example action node

astrobee/survey_manager/CMakeLists.txt

@@ -48,6 +48,11 @@ include_directories(
 )
 
 
+# Uncomment this when plansys merged
+# # Action for move_inspect
+# add_executable(move_action_node src/move_action_node.cpp)
+# target_link_libraries(move_action_node ${catkin_LIBRARIES} )
+
 #############
 ## Install ##
 #############

astrobee/survey_manager/src/move_action_node.cpp

@@ -0,0 +1,59 @@
+/* Copyright (c) 2021, United States Government, as represented by the
+ * Administrator of the National Aeronautics and Space Administration.
+ *
+ * All rights reserved.
+ *
+ * The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking
+ * platform" software is 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 <ros/ros.h>
+
+#include <plansys2_executor/ActionExecutorClient.hpp>
+
+#include <string>
+
+namespace plansys2_actions {
+
+class MoveAction : public plansys2::ActionExecutorClient {
+ public:
+  MoveAction(ros::NodeHandle nh, const std::string& action, const std::chrono::nanoseconds& rate)
+      : ActionExecutorClient(nh, action, rate) {}
+
+ protected:
+  void do_work() {
+    ROS_ERROR_STREAM("Executing [MOVE]");
+    // std::string from, towards;
+    // from = get_arguments()[1];
+    // towards = get_arguments()[2];
+  }
+};
+}  // namespace plansys2_actions
+
+
+// Main entry point for application
+int main(int argc, char *argv[]) {
+  // Initialize a ros node
+  ros::init(argc, argv, "move_action");
+  ros::NodeHandle nh(name);
+
+  // Start action node
+  // We could actually add multiple action nodes here being aware that we might need a ros::AsyncSpinner
+  // (https://github.com/Bckempa/ros2_planning_system/blob/noetic-devel/plansys2_bt_actions/src/bt_action_node.cpp#L41)
+  auto action_node = std::make_shared<plansys2::MoveAction>(nh, name, std::chrono_literals::1s);
+  action_node->trigger_transition(ros::lifecycle::CONFIGURE);
+
+  // Synchronous mode
+  ros::spin();
+  // Make for great success
+  return 0;