NavigateToPoseAction Class

Calls an action server that uses nav2_msgs::action::NavigateToPose and outputs feedback The ROS 2 Jazzy action result contains error_code and error_msg; this Behavior does not expose it. More...

Declaration

class moveit_pro::behaviors::NavigateToPoseAction { ... }

Included Headers

#include <navigate_to_pose_action.hpp>

Base class

class	ActionClientBehaviorBase<ActionT>
	A base class for behaviors which need to send a goal to a ROS action client and wait for a result. If the behavior is halted before the action result is received, the action goal will be canceled. More...

Public Constructors Index

	NavigateToPoseAction (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for NavigateToPoseAction behavior. More...
	NavigateToPoseAction (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase > client_interface)
	Overload for constructor which allows providing an alternate action client interface – useful for unit testing, but not a requirement. More...

Public Member Functions Index

tl::expected< std::string, std::string >	getActionName () override
	Gets the name of the action to use when initializing the action client. More...

Private Member Functions Index

tl::expected< NavigateToPose::Goal, std::string >	createGoal () override
	Creates the action goal. More...
void	processFeedback (const std::shared_ptr< const NavigateToPose::Feedback > feedback) override
	Writes current_pose, navigation_time, estimated_time_remaining, number_of_recoveries, and distance_remaining to blackboard. More...
tl::expected< std::chrono::duration< double >, std::string >	getResultTimeout () override
	Gets the timeout from the blackboard. More...
std::shared_future< tl::expected< bool, std::string > > &	getFuture () override
	Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member. More...

Private Member Attributes Index

std::shared_future< tl::expected< bool, std::string > >	future_
	Classes derived from AsyncBehaviorBase must have this shared_future as a class member. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Custom tree nodes that have input and/or output ports must define them in this static function. More...
static BT::KeyValueVector	metadata ()

Description

Calls an action server that uses nav2_msgs::action::NavigateToPose and outputs feedback The ROS 2 Jazzy action result contains error_code and error_msg; this Behavior does not expose it.

Data Port Name	Port Type	Object Type
action_name	Input	std::string
behavior_tree_path	Input	std::string
pose_stamped	Input	geometry_msgs::msg::PoseStamped
timeout_sec	Input	double
current_pose	Output	geometry_msgs::msg::PoseStamped
navigation_time	Output	builtin_interfaces::msg::Duration
estimated_time_remaining	Output	builtin_interfaces::msg::Duration
number_of_recoveries	Output	int16_t
distance_remaining	Output	float

Definition at line 35 of file navigate_to_pose_action.hpp.

Public Constructors

NavigateToPoseAction()

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

Constructor for NavigateToPoseAction behavior.

Parameters

name	Name of the node. Must match the name used for this node in the behavior tree definition file (the .xml file).
config	Node configuration. Only used here because the BehaviorTree.CPP expects constructor signature with name and config first before custom constructor parameters.
shared_resources	Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_pro::behaviors::SharedResourcesNode.

Declaration at line 47 of file navigate_to_pose_action.hpp, definition at line 43 of file navigate_to_pose_action.cpp.

NavigateToPoseAction()

moveit_pro::behaviors::NavigateToPoseAction::NavigateToPoseAction (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources, std::unique_ptr< ClientInterfaceBase > client_interface)

Overload for constructor which allows providing an alternate action client interface – useful for unit testing, but not a requirement.

Declaration at line 54 of file navigate_to_pose_action.hpp, definition at line 49 of file navigate_to_pose_action.cpp.

Public Member Functions

getActionName()

tl::expected< std::string, std::string > moveit_pro::behaviors::NavigateToPoseAction::getActionName ()

virtual

Gets the name of the action to use when initializing the action client.

Returns

The name of the action for the NavigateThroughPosesAction action client.

Declaration at line 71 of file navigate_to_pose_action.hpp, definition at line 94 of file navigate_to_pose_action.cpp.

Private Member Functions

createGoal()

tl::expected< NavigateToPose::Goal, std::string > moveit_pro::behaviors::NavigateToPoseAction::createGoal ()

virtual

Creates the action goal.

Returns

The action goal message if successful, or an error message otherwise.

Declaration at line 78 of file navigate_to_pose_action.hpp, definition at line 105 of file navigate_to_pose_action.cpp.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::NavigateToPoseAction::getFuture ()

inline virtual

Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

Definition at line 96 of file navigate_to_pose_action.hpp.

getResultTimeout()

tl::expected< std::chrono::duration< double >, std::string > moveit_pro::behaviors::NavigateToPoseAction::getResultTimeout ()

virtual

Gets the timeout from the blackboard.

Returns

The timeout as a chrono duration if successful, or an error message otherwise.

Declaration at line 92 of file navigate_to_pose_action.hpp, definition at line 141 of file navigate_to_pose_action.cpp.

processFeedback()

void moveit_pro::behaviors::NavigateToPoseAction::processFeedback (const std::shared_ptr< const NavigateToPose::Feedback > feedback)

Writes current_pose, navigation_time, estimated_time_remaining, number_of_recoveries, and distance_remaining to blackboard.

Parameters

result

Action result message to process.

Returns

True if successful, or an error message otherwise.

Declaration at line 86 of file navigate_to_pose_action.hpp, definition at line 132 of file navigate_to_pose_action.cpp.

Private Member Attributes

future_

std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::NavigateToPoseAction::future_

Classes derived from AsyncBehaviorBase must have this shared_future as a class member.

Definition at line 102 of file navigate_to_pose_action.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 65 of file navigate_to_pose_action.hpp, definition at line 89 of file navigate_to_pose_action.cpp.

providedPorts()

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

static

Custom tree nodes that have input and/or output ports must define them in this static function.

This function must be static. It is a requirement set by the BehaviorTree.CPP library.

Returns

List of ports with the names and port info. The return value is for the internal use of the behavior tree.

Declaration at line 63 of file navigate_to_pose_action.hpp, definition at line 56 of file navigate_to_pose_action.cpp.

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

• navigate_to_pose_action.hpp
• navigate_to_pose_action.cpp

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