RecordJointTrajectory Class
Record a JointTrajectory message by subscribing to a topic publishing joint states and pushing the joint states to a JointTrajectory message. More...
Declaration
class moveit_pro::behaviors::RecordJointTrajectory { ... }
#include <record_joint_trajectory.hpp>
Base class
| class | AsyncBehaviorBase |
|
A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More...
|
|
Public Constructors Index
| RecordJointTrajectory (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) |
|
|
|
Private Member Functions Index
| tl::expected< bool, std::string > | doWork () override |
|
User-implemented function which handles executing the potentially-long-running process. More...
|
|
| void | onHalted () override |
|
|
|
| std::shared_future< tl::expected< bool, std::string > > & | getFuture () override |
|
Gets the shared future which is used to monitor the progress of the async process. More...
|
|
Private Member Attributes Index
Public Static Functions Index
Description
Record a JointTrajectory message by subscribing to a topic publishing joint states and pushing the joint states to a JointTrajectory message.
This Behavior doesn't start recording until the start recording service is called. To stop recording, the stop recording service must be called. There is an optional omit_joints port, which can be used to omit joints from being recorded
| Data Port Name | Port Type | Object Type |
|---|
| start_recording_service | Input | std::string |
| stop_recording_service | Input | std::string |
| joint_state_topic | Input | std::string |
| timeout_sec | Input | double |
| planning_group_name | Input | std::string |
| joint_space_step | Input | double |
| joint_trajectory_message | Output | trajectory_msgs::msg::JointTrajectory |
Definition at line 44 of file record_joint_trajectory.hpp.
Public Constructors
RecordJointTrajectory()
| moveit_pro::behaviors::RecordJointTrajectory::RecordJointTrajectory (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources) |
|
Private Member Functions
doWork()
| tl::expected< bool, std::string > moveit_pro::behaviors::RecordJointTrajectory::doWork () |
|
virtual
|
User-implemented function which handles executing the potentially-long-running process.
This function is called within an async process in a separate thread.
- Returns
A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.
Declaration at line 55 of file record_joint_trajectory.hpp, definition at line 337 of file record_joint_trajectory.cpp.
getFuture()
| std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::RecordJointTrajectory::getFuture () |
|
inline
virtual
|
Gets the shared future which is used to monitor the progress of the async process.
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
This exists to prevent destruction of the derived class while the async process is still in-progress. If the derived class is destroyed, the definitions of the functions used within doWork() will be destroyed too, which will result in the virtual functions in the base class being called instead and cause a fault.
This function will force derived classes to add an instance of this type and return a reference to it. The base class can then use this virtual function to access the shared future in functions like onStart.
By adding this virtual function we're properly demonstrating how this future depends on things from the derived class and the natural flow of object lifetimes will do the hard work for us. The std::shared_future destructor will get the value of the future before the derived class is destructed assuming it's the last reference to the shared state. Doing it this way means neither the base nor derived class should need to implement a destructor which is a nice property to have.
- Returns
Returns the shared_future, which should be owned by the child class.
Definition at line 59 of file record_joint_trajectory.hpp.
onHalted()
| void moveit_pro::behaviors::RecordJointTrajectory::onHalted () |
|
Private Member Attributes
cv_
| std::condition_variable moveit_pro::behaviors::RecordJointTrajectory::cv_ |
|
error_
| std::string moveit_pro::behaviors::RecordJointTrajectory::error_ |
|
error_flag_
| std::atomic_bool moveit_pro::behaviors::RecordJointTrajectory::error_flag_ |
|
future_
| std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::RecordJointTrajectory::future_ |
|
joint_state_subscriber_
| rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr moveit_pro::behaviors::RecordJointTrajectory::joint_state_subscriber_ |
|
joint_trajectory_msg_
| trajectory_msgs::msg::JointTrajectory moveit_pro::behaviors::RecordJointTrajectory::joint_trajectory_msg_ |
|
joints_to_record_
| std::set<std::string, std::less<> > moveit_pro::behaviors::RecordJointTrajectory::joints_to_record_ |
|
mtx_
| std::mutex moveit_pro::behaviors::RecordJointTrajectory::mtx_ |
|
start_recording_flag_
| std::atomic_bool moveit_pro::behaviors::RecordJointTrajectory::start_recording_flag_ |
|
start_recording_service_
| rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr moveit_pro::behaviors::RecordJointTrajectory::start_recording_service_ |
|
start_time_for_recording_
| rclcpp::Time moveit_pro::behaviors::RecordJointTrajectory::start_time_for_recording_ |
|
start_timeout_
| rclcpp::Time moveit_pro::behaviors::RecordJointTrajectory::start_timeout_ |
|
stop_recording_flag_
| std::atomic_bool moveit_pro::behaviors::RecordJointTrajectory::stop_recording_flag_ |
|
stop_recording_service_
| rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr moveit_pro::behaviors::RecordJointTrajectory::stop_recording_service_ |
|
timeout_sec_
| double moveit_pro::behaviors::RecordJointTrajectory::timeout_sec_ |
|
Public Static Functions
metadata()
| BT::KeyValueVector moveit_pro::behaviors::RecordJointTrajectory::metadata () |
|
static
|
providedPorts()
| BT::PortsList moveit_pro::behaviors::RecordJointTrajectory::providedPorts () |
|
static
|
The documentation for this class was generated from the following files:
Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.