added remove string prefix

Author: juandpenan

bt_nodes/configuration/include/configuration/remove_string_prefix.hpp

@@ -0,0 +1,50 @@
+// Copyright 2024 Intelligent Robotics Lab - Gentlebots
+//
+// 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.
+
+#ifndef CONFIGURATION__REMOVE_STRING_PREFIX_HPP_
+#define CONFIGURATION__REMOVE_STRING_PREFIX_HPP_
+
+#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
+
+namespace configuration
+{
+
+class RemoveStringPrefix : public BT::ActionNodeBase
+{
+public:
+  explicit RemoveStringPrefix(const std::string & xml_tag_name, const BT::NodeConfiguration & conf);
+
+  void halt();
+  BT::NodeStatus tick();
+
+  static BT::PortsList providedPorts()
+  {
+    return BT::PortsList(
+      {
+        BT::InputPort<std::string>("string_to_remove"),
+        BT::InputPort<std::string>("prefix"),
+        BT::OutputPort<std::string>("result")
+      });
+  }
+
+private:
+  std::string string_to_remove_;
+  std::string prefix_;
+  std::string result_;
+};
+
+}  // namespace configuration
+
+#endif  // CONFIGURATION__REMOVE_STRING_PREFIX_HPP_

bt_nodes/configuration/src/configuration/remove_string_prefix.cpp

@@ -0,0 +1,52 @@
+// Copyright 2024 Intelligent Robotics Lab - Gentlebots
+//
+// 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 "configuration/remove_string_prefix.hpp"
+
+namespace configuration
+{
+
+RemoveStringPrefix::RemoveStringPrefix(
+  const std::string & xml_tag_name, const BT::NodeConfiguration & conf)
+: BT::ActionNodeBase(xml_tag_name, conf)
+{
+}
+
+BT::NodeStatus RemoveStringPrefix::tick()
+{
+  getInput("string_to_remove", string_to_remove_);
+  getInput("prefix", prefix_);
+  if (string_to_remove_.empty() || prefix_.empty()) {
+    return BT::NodeStatus::FAILURE;
+  }
+  
+  size_t pos = string_to_remove_.find(prefix_);
+  if (pos != std::string::npos) {
+    result_ = string_to_remove_.substr(pos + prefix_.length());
+  } else {
+    result_ = string_to_remove_;
+  }
+
+  setOutput("result", result_);
+  return BT::NodeStatus::SUCCESS;
+}
+
+void RemoveStringPrefix::halt() {}
+
+}  // namespace configuration
+
+BT_REGISTER_NODES(factory)
+{
+  factory.registerNodeType<configuration::RemoveStringPrefix>("RemoveStringPrefix");
+}