moved error code enumerations to the result of action messages

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp

@@ -30,7 +30,6 @@ namespace nav2_behavior_tree
 class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTeleop>
 {
   using Action = nav2_msgs::action::AssistedTeleop;
-  using ActionGoal = Action::Goal;
   using ActionResult = Action::Result;
 
 public:

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp

@@ -29,7 +29,6 @@ namespace nav2_behavior_tree
 class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
 {
   using Action = nav2_msgs::action::BackUp;
-  using ActionGoal = Action::Goal;
   using ActionResult = Action::Result;
 
 public:

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp

@@ -34,7 +34,6 @@ class ComputePathThroughPosesAction
 {
   using Action = nav2_msgs::action::ComputePathThroughPoses;
   using ActionResult = Action::Result;
-  using ActionGoal = Action::Goal;
 
 public:
   /**

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp

@@ -31,7 +31,6 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
 {
   using Action = nav2_msgs::action::ComputePathToPose;
   using ActionResult = Action::Result;
-  using ActionGoal = Action::Goal;
 
 public:
   /**

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp

@@ -29,8 +29,7 @@ namespace nav2_behavior_tree
 class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeading>
 {
   using Action = nav2_msgs::action::DriveOnHeading;
-  using ActionGoal = Action::Goal;
-  using ActionResult = Action::Goal;
+  using ActionResult = Action::Result;
 
 public:
   /**

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp

@@ -31,7 +31,6 @@ class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
 {
   using Action = nav2_msgs::action::FollowPath;
   using ActionResult = Action::Result;
-  using ActionGoal = Action::Goal;
 
 public:
   /**

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp

@@ -33,7 +33,6 @@ class NavigateThroughPosesAction : public BtActionNode<nav2_msgs::action::Naviga
 {
   using Action = nav2_msgs::action::NavigateThroughPoses;
   using ActionResult = Action::Result;
-  using ActionGoal = Action::Goal;
 
 public:
   /**

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp

@@ -32,7 +32,6 @@ class NavigateToPoseAction : public BtActionNode<nav2_msgs::action::NavigateToPo
 {
   using Action = nav2_msgs::action::NavigateToPose;
   using ActionResult = Action::Result;
-  using ActionGoal = Action::Goal;
 
 public:
   /**

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smooth_path_action.hpp

@@ -32,7 +32,6 @@ class SmoothPathAction : public nav2_behavior_tree::BtActionNode<nav2_msgs::acti
 {
   using Action = nav2_msgs::action::SmoothPath;
   using ActionResult = Action::Result;
-  using ActionGoal = Action::Goal;
 
 public:
   /**

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp

@@ -30,7 +30,6 @@ class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
 {
   using Action = nav2_msgs::action::Spin;
   using ActionResult = Action::Result;
-  using ActionGoal = Action::Goal;
 
 public:
   /**

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help_condition.hpp

@@ -26,7 +26,7 @@ namespace nav2_behavior_tree
 class WouldAControllerRecoveryHelp : public AreErrorCodesPresent
 {
   using Action = nav2_msgs::action::FollowPath;
-  using ActionGoal = Action::Goal;
+  using ActionResult = Action::Result;
 
 public:
   WouldAControllerRecoveryHelp(

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help_condition.hpp

@@ -26,7 +26,7 @@ namespace nav2_behavior_tree
 class WouldAPlannerRecoveryHelp : public AreErrorCodesPresent
 {
   using Action = nav2_msgs::action::ComputePathToPose;
-  using ActionGoal = Action::Goal;
+  using ActionResult = Action::Result;
 
 public:
   WouldAPlannerRecoveryHelp(

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help_condition.hpp

@@ -27,7 +27,7 @@ namespace nav2_behavior_tree
 class WouldASmootherRecoveryHelp : public AreErrorCodesPresent
 {
   using Action = nav2_msgs::action::SmoothPath;
-  using ActionGoal = Action::Goal;
+  using ActionResult = Action::Result;
 
 public:
   WouldASmootherRecoveryHelp(

nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp

@@ -43,7 +43,7 @@ void AssistedTeleopAction::on_tick()
 
 BT::NodeStatus AssistedTeleopAction::on_success()
 {
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 
@@ -55,7 +55,7 @@ BT::NodeStatus AssistedTeleopAction::on_aborted()
 
 BT::NodeStatus AssistedTeleopAction::on_cancelled()
 {
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 

nav2_behavior_tree/plugins/action/back_up_action.cpp

@@ -48,7 +48,7 @@ void BackUpAction::on_tick()
 
 BT::NodeStatus BackUpAction::on_success()
 {
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 
@@ -60,7 +60,7 @@ BT::NodeStatus BackUpAction::on_aborted()
 
 BT::NodeStatus BackUpAction::on_cancelled()
 {
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 

nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp

@@ -42,7 +42,7 @@ BT::NodeStatus ComputePathThroughPosesAction::on_success()
 {
   setOutput("path", result_.result->path);
   // Set empty error code, action was successful
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 
@@ -59,7 +59,7 @@ BT::NodeStatus ComputePathThroughPosesAction::on_cancelled()
   nav_msgs::msg::Path empty_path;
   setOutput("path", empty_path);
   // Set empty error code, action was cancelled
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 

nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp

@@ -41,7 +41,7 @@ BT::NodeStatus ComputePathToPoseAction::on_success()
 {
   setOutput("path", result_.result->path);
   // Set empty error code, action was successful
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 
@@ -58,7 +58,7 @@ BT::NodeStatus ComputePathToPoseAction::on_cancelled()
   nav_msgs::msg::Path empty_path;
   setOutput("path", empty_path);
   // Set empty error code, action was cancelled
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 

nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp

@@ -43,7 +43,7 @@ DriveOnHeadingAction::DriveOnHeadingAction(
 
 BT::NodeStatus DriveOnHeadingAction::on_success()
 {
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 
@@ -55,7 +55,7 @@ BT::NodeStatus DriveOnHeadingAction::on_aborted()
 
 BT::NodeStatus DriveOnHeadingAction::on_cancelled()
 {
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 

nav2_behavior_tree/plugins/action/follow_path_action.cpp

@@ -38,7 +38,7 @@ void FollowPathAction::on_tick()
 
 BT::NodeStatus FollowPathAction::on_success()
 {
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 
@@ -51,7 +51,7 @@ BT::NodeStatus FollowPathAction::on_aborted()
 BT::NodeStatus FollowPathAction::on_cancelled()
 {
   // Set empty error code, action was cancelled
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 

nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp

@@ -41,7 +41,7 @@ void NavigateThroughPosesAction::on_tick()
 
 BT::NodeStatus NavigateThroughPosesAction::on_success()
 {
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 
@@ -54,7 +54,7 @@ BT::NodeStatus NavigateThroughPosesAction::on_aborted()
 BT::NodeStatus NavigateThroughPosesAction::on_cancelled()
 {
   // Set empty error code, action was cancelled
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 

nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp

@@ -40,7 +40,7 @@ void NavigateToPoseAction::on_tick()
 
 BT::NodeStatus NavigateToPoseAction::on_success()
 {
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 
@@ -53,7 +53,7 @@ BT::NodeStatus NavigateToPoseAction::on_aborted()
 BT::NodeStatus NavigateToPoseAction::on_cancelled()
 {
   // Set empty error code, action was cancelled
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 

nav2_behavior_tree/plugins/action/smooth_path_action.cpp

@@ -45,7 +45,7 @@ BT::NodeStatus SmoothPathAction::on_success()
   setOutput("smoothing_duration", rclcpp::Duration(result_.result->smoothing_duration).seconds());
   setOutput("was_completed", result_.result->was_completed);
   // Set empty error code, action was successful
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 
@@ -58,7 +58,7 @@ BT::NodeStatus SmoothPathAction::on_aborted()
 BT::NodeStatus SmoothPathAction::on_cancelled()
 {
   // Set empty error code, action was cancelled
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 

nav2_behavior_tree/plugins/action/spin_action.cpp

@@ -43,7 +43,7 @@ void SpinAction::on_tick()
 
 BT::NodeStatus SpinAction::on_success()
 {
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 
@@ -55,7 +55,7 @@ BT::NodeStatus SpinAction::on_aborted()
 
 BT::NodeStatus SpinAction::on_cancelled()
 {
-  setOutput("error_code_id", ActionGoal::NONE);
+  setOutput("error_code_id", ActionResult::NONE);
   return BT::NodeStatus::SUCCESS;
 }
 

nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help_condition.cpp

@@ -24,10 +24,10 @@ WouldAControllerRecoveryHelp::WouldAControllerRecoveryHelp(
 : AreErrorCodesPresent(condition_name, conf)
 {
   error_codes_to_check_ = {
-    ActionGoal::UNKNOWN,
-    ActionGoal::PATIENCE_EXCEEDED,
-    ActionGoal::FAILED_TO_MAKE_PROGRESS,
-    ActionGoal::NO_VALID_CONTROL
+    ActionResult::UNKNOWN,
+    ActionResult::PATIENCE_EXCEEDED,
+    ActionResult::FAILED_TO_MAKE_PROGRESS,
+    ActionResult::NO_VALID_CONTROL
   };
 }
 

nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help_condition.cpp

@@ -24,9 +24,9 @@ WouldAPlannerRecoveryHelp::WouldAPlannerRecoveryHelp(
 : AreErrorCodesPresent(condition_name, conf)
 {
   error_codes_to_check_ = {
-    ActionGoal::UNKNOWN,
-    ActionGoal::NO_VALID_PATH,
-    ActionGoal::TIMEOUT
+    ActionResult::UNKNOWN,
+    ActionResult::NO_VALID_PATH,
+    ActionResult::TIMEOUT
   };
 }
 

nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help_condition.cpp

@@ -24,10 +24,10 @@ WouldASmootherRecoveryHelp::WouldASmootherRecoveryHelp(
 : AreErrorCodesPresent(condition_name, conf)
 {
   error_codes_to_check_ = {
-    ActionGoal::UNKNOWN,
-    ActionGoal::TIMEOUT,
-    ActionGoal::FAILED_TO_SMOOTH_PATH,
-    ActionGoal::SMOOTHED_PATH_IN_COLLISION
+    ActionResult::UNKNOWN,
+    ActionResult::TIMEOUT,
+    ActionResult::FAILED_TO_SMOOTH_PATH,
+    ActionResult::SMOOTHED_PATH_IN_COLLISION
   };
 }
 

nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp

@@ -24,11 +24,11 @@ class AreErrorCodesPresentFixture : public nav2_behavior_tree::BehaviorTreeTestF
 {
 public:
   using Action = nav2_msgs::action::FollowPath;
-  using ActionGoal = Action::Goal;
+  using ActionResult = Action::Result;
   void SetUp()
   {
-    uint16_t error_code = ActionGoal::NONE;
-    std::set<uint16_t> error_codes_to_check = {ActionGoal::UNKNOWN}; //NOLINT
+    uint16_t error_code = ActionResult::NONE;
+    std::set<uint16_t> error_codes_to_check = {ActionResult::UNKNOWN}; //NOLINT
     config_->blackboard->set("error_code", error_code);
     config_->blackboard->set("error_codes_to_check", error_codes_to_check);
 
@@ -59,8 +59,8 @@ std::shared_ptr<BT::Tree> AreErrorCodesPresentFixture::tree_ = nullptr;
 TEST_F(AreErrorCodesPresentFixture, test_condition)
 {
   std::map<uint16_t, BT::NodeStatus> error_to_status_map = {
-    {ActionGoal::NONE, BT::NodeStatus::FAILURE},
-    {ActionGoal::UNKNOWN, BT::NodeStatus::SUCCESS},
+    {ActionResult::NONE, BT::NodeStatus::FAILURE},
+    {ActionResult::UNKNOWN, BT::NodeStatus::SUCCESS},
   };
 
   for (const auto & error_to_status : error_to_status_map) {

nav2_behavior_tree/test/plugins/condition/test_would_a_controller_recovery_help.cpp

@@ -24,10 +24,10 @@ class WouldAControllerRecoveryHelpFixture : public nav2_behavior_tree::BehaviorT
 {
 public:
   using Action = nav2_msgs::action::FollowPath;
-  using ActionGoal = Action::Goal;
+  using ActionResult = Action::Result;
   void SetUp()
   {
-    uint16_t error_code = ActionGoal::NONE;
+    uint16_t error_code = ActionResult::NONE;
     config_->blackboard->set("error_code", error_code);
 
     std::string xml_txt =
@@ -57,14 +57,14 @@ std::shared_ptr<BT::Tree> WouldAControllerRecoveryHelpFixture::tree_ = nullptr;
 TEST_F(WouldAControllerRecoveryHelpFixture, test_condition)
 {
   std::map<uint16_t, BT::NodeStatus> error_to_status_map = {
-    {ActionGoal::NONE, BT::NodeStatus::FAILURE},
-    {ActionGoal::UNKNOWN, BT::NodeStatus::SUCCESS},
-    {ActionGoal::INVALID_CONTROLLER, BT::NodeStatus::FAILURE},
-    {ActionGoal::TF_ERROR, BT::NodeStatus::FAILURE},
-    {ActionGoal::INVALID_PATH, BT::NodeStatus::FAILURE},
-    {ActionGoal::PATIENCE_EXCEEDED, BT::NodeStatus::SUCCESS},
-    {ActionGoal::FAILED_TO_MAKE_PROGRESS, BT::NodeStatus::SUCCESS},
-    {ActionGoal::NO_VALID_CONTROL, BT::NodeStatus::SUCCESS},
+    {ActionResult::NONE, BT::NodeStatus::FAILURE},
+    {ActionResult::UNKNOWN, BT::NodeStatus::SUCCESS},
+    {ActionResult::INVALID_CONTROLLER, BT::NodeStatus::FAILURE},
+    {ActionResult::TF_ERROR, BT::NodeStatus::FAILURE},
+    {ActionResult::INVALID_PATH, BT::NodeStatus::FAILURE},
+    {ActionResult::PATIENCE_EXCEEDED, BT::NodeStatus::SUCCESS},
+    {ActionResult::FAILED_TO_MAKE_PROGRESS, BT::NodeStatus::SUCCESS},
+    {ActionResult::NO_VALID_CONTROL, BT::NodeStatus::SUCCESS},
   };
 
   for (const auto & error_to_status : error_to_status_map) {