GetOdom Class

Subscribes to an odometry message and stores it on the blackboard. More...

Declaration

class moveit_pro::behaviors::GetOdom { ... }

Included Headers

#include <get_odom.hpp>

Base class

class	SharedResourcesNode<BehaviorTreeNodeT>
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...

Public Constructors Index

	GetOdom (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)

Public Member Functions Index

BT::NodeStatus	onStart () override
BT::NodeStatus	onRunning () override
void	onHalted () override

Private Member Attributes Index

std::shared_ptr< rclcpp::Subscription< nav_msgs::msg::Odometry > >	odometry_subscriber_
std::shared_mutex	odometry_mutex_
nav_msgs::msg::Odometry	current_odometry_

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Description

Subscribes to an odometry message and stores it on the blackboard.

Data Port Name	Port Type	Object Type
odometry_topic_name	input	std::string
subscribed_odometry	output	nav_msgs::msg::Odometry
odometry_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 27 of file get_odom.hpp.

Public Constructors

GetOdom()

moveit_pro::behaviors::GetOdom::GetOdom (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > & shared_resources)

Declaration at line 30 of file get_odom.hpp, definition at line 22 of file get_odom.cpp.

Public Member Functions

onHalted()

void moveit_pro::behaviors::GetOdom::onHalted ()

Declaration at line 41 of file get_odom.hpp, definition at line 87 of file get_odom.cpp.

onRunning()

BT::NodeStatus moveit_pro::behaviors::GetOdom::onRunning ()

Declaration at line 39 of file get_odom.hpp, definition at line 68 of file get_odom.cpp.

onStart()

BT::NodeStatus moveit_pro::behaviors::GetOdom::onStart ()

Declaration at line 37 of file get_odom.hpp, definition at line 45 of file get_odom.cpp.

Private Member Attributes

current_odometry_

nav_msgs::msg::Odometry moveit_pro::behaviors::GetOdom::current_odometry_

Definition at line 46 of file get_odom.hpp.

odometry_mutex_

std::shared_mutex moveit_pro::behaviors::GetOdom::odometry_mutex_

Definition at line 45 of file get_odom.hpp.

odometry_subscriber_

std::shared_ptr<rclcpp::Subscription<nav_msgs::msg::Odometry> > moveit_pro::behaviors::GetOdom::odometry_subscriber_

Definition at line 44 of file get_odom.hpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::GetOdom::metadata ()

static

Declaration at line 35 of file get_odom.hpp, definition at line 38 of file get_odom.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::GetOdom::providedPorts ()

static

Declaration at line 33 of file get_odom.hpp, definition at line 28 of file get_odom.cpp.

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The documentation for this class was generated from the following files:

• get_odom.hpp
• get_odom.cpp

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