PublishPointCloud Class

Publish a point cloud. More...

Declaration

class moveit_pro::behaviors::PublishPointCloud { ... }

Included Headers

#include <publish_pointcloud.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

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

Private Member Functions Index

BT::NodeStatus	publishPointCloud (const sensor_msgs::msg::PointCloud2 &point_cloud_data) const
	Publishes the point cloud on point_cloud_topic. More...

Private Member Attributes Index

std::shared_ptr< rclcpp::Publisher< sensor_msgs::msg::PointCloud2 > >	point_cloud_publisher_
	Publisher for point cloud messages. More...
ThreadedFuture< BT::NodeStatus >	publish_point_cloud_future_
	Holds the returned value from calling publishPointCloud asynchronously. More...

Public Static Functions Index

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

Description

Publish a point cloud.

Data Port Name	Port Type	Object Type
point_cloud_topic	Input	std::string
point_cloud	Input	sensor_msgs::msg::PointCloud2

Definition at line 27 of file publish_pointcloud.hpp.

Public Constructors

PublishPointCloud()

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

Declaration at line 30 of file publish_pointcloud.hpp, definition at line 28 of file publish_pointcloud.cpp.

Public Member Functions

onHalted()

void moveit_pro::behaviors::PublishPointCloud::onHalted ()

Declaration at line 37 of file publish_pointcloud.hpp, definition at line 89 of file publish_pointcloud.cpp.

onRunning()

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

Declaration at line 35 of file publish_pointcloud.hpp, definition at line 80 of file publish_pointcloud.cpp.

onStart()

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

Declaration at line 33 of file publish_pointcloud.hpp, definition at line 49 of file publish_pointcloud.cpp.

Private Member Functions

publishPointCloud()

BT::NodeStatus moveit_pro::behaviors::PublishPointCloud::publishPointCloud (const sensor_msgs::msg::PointCloud2 & point_cloud_data)

Publishes the point cloud on point_cloud_topic.

Returns

BT::NodeStatus Returns SUCCESS if the point cloud message was sent to the publisher, and FAILURE if the publisher could not be created.

Declaration at line 50 of file publish_pointcloud.hpp, definition at line 94 of file publish_pointcloud.cpp.

Private Member Attributes

point_cloud_publisher_

std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::PointCloud2> > moveit_pro::behaviors::PublishPointCloud::point_cloud_publisher_

Publisher for point cloud messages.

Definition at line 55 of file publish_pointcloud.hpp.

publish_point_cloud_future_

ThreadedFuture<BT::NodeStatus> moveit_pro::behaviors::PublishPointCloud::publish_point_cloud_future_

Holds the returned value from calling publishPointCloud asynchronously.

Declared last so its joining destructor runs before any sibling member the background task dereferences is destroyed.

Definition at line 62 of file publish_pointcloud.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 41 of file publish_pointcloud.hpp, definition at line 43 of file publish_pointcloud.cpp.

providedPorts()

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

static

Declaration at line 39 of file publish_pointcloud.hpp, definition at line 34 of file publish_pointcloud.cpp.

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

• publish_pointcloud.hpp
• publish_pointcloud.cpp

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