RetrieveWaypoint Class

Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint, restricted to the joints of the requested planning group. More...

Declaration

class moveit_pro::behaviors::RetrieveWaypoint { ... }

Included Headers

#include <retrieve_waypoint.hpp>

Base class

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

Private Member Typedefs Index

using	Waypoint = moveit_studio_agent_msgs::msg::Waypoint
using	GetWaypoints = moveit_studio_agent_msgs::srv::GetWaypoints
using	GetWaypointsClient = rclcpp::Client< GetWaypoints >
using	GetWaypointRejections = moveit_studio_agent_msgs::srv::GetWaypointRejections
using	GetWaypointRejectionsClient = rclcpp::Client< GetWaypointRejections >

Public Constructors Index

	RetrieveWaypoint (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

tl::expected< moveit_msgs::msg::RobotState, std::string >	getWaypoints (const std::string &waypoint_name, const std::string &group_name, GetWaypoints::Response::SharedPtr response, const GetWaypointRejections::Response::SharedPtr &rejections) const
void	removePendingRequests () const

Private Member Attributes Index

GetWaypointsClient::SharedPtr	get_waypoints_client_
GetWaypointRejectionsClient::SharedPtr	get_waypoint_rejections_client_
std::optional< GetWaypointsClient::FutureAndRequestId >	request_future_
GetWaypoints::Response::SharedPtr	waypoints_response_
std::optional< GetWaypointRejectionsClient::FutureAndRequestId >	rejections_future_
std::chrono::high_resolution_clock::time_point	end_time_

Public Static Functions Index

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

Description

Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint, restricted to the joints of the requested planning group.

Data Port Name	Port Type	Object Type
waypoint_name	Input	std::string
joint_group_name	Input	std::string
waypoint_joint_state	Output	moveit_msgs::msg::RobotState

Definition at line 32 of file retrieve_waypoint.hpp.

Private Member Typedefs

GetWaypointRejections

using moveit_pro::behaviors::RetrieveWaypoint::GetWaypointRejections = moveit_studio_agent_msgs::srv::GetWaypointRejections

Definition at line 52 of file retrieve_waypoint.hpp.

GetWaypointRejectionsClient

using moveit_pro::behaviors::RetrieveWaypoint::GetWaypointRejectionsClient = rclcpp::Client<GetWaypointRejections>

Definition at line 53 of file retrieve_waypoint.hpp.

GetWaypoints

using moveit_pro::behaviors::RetrieveWaypoint::GetWaypoints = moveit_studio_agent_msgs::srv::GetWaypoints

Definition at line 50 of file retrieve_waypoint.hpp.

GetWaypointsClient

using moveit_pro::behaviors::RetrieveWaypoint::GetWaypointsClient = rclcpp::Client<GetWaypoints>

Definition at line 51 of file retrieve_waypoint.hpp.

Waypoint

using moveit_pro::behaviors::RetrieveWaypoint::Waypoint = moveit_studio_agent_msgs::msg::Waypoint

Definition at line 49 of file retrieve_waypoint.hpp.

Public Constructors

RetrieveWaypoint()

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

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

Public Member Functions

onHalted()

void moveit_pro::behaviors::RetrieveWaypoint::onHalted ()

Declaration at line 46 of file retrieve_waypoint.hpp, definition at line 205 of file retrieve_waypoint.cpp.

onRunning()

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

Declaration at line 44 of file retrieve_waypoint.hpp, definition at line 140 of file retrieve_waypoint.cpp.

onStart()

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

Declaration at line 42 of file retrieve_waypoint.hpp, definition at line 109 of file retrieve_waypoint.cpp.

Private Member Functions

getWaypoints()

tl::expected< moveit_msgs::msg::RobotState, std::string > moveit_pro::behaviors::RetrieveWaypoint::getWaypoints (const std::string & waypoint_name, const std::string & group_name, GetWaypoints::Response::SharedPtr response, const GetWaypointRejections::Response::SharedPtr & rejections)

Declaration at line 59 of file retrieve_waypoint.hpp, definition at line 223 of file retrieve_waypoint.cpp.

removePendingRequests()

void moveit_pro::behaviors::RetrieveWaypoint::removePendingRequests ()

Declaration at line 64 of file retrieve_waypoint.hpp, definition at line 210 of file retrieve_waypoint.cpp.

Private Member Attributes

end_time_

std::chrono::high_resolution_clock::time_point moveit_pro::behaviors::RetrieveWaypoint::end_time_

Definition at line 83 of file retrieve_waypoint.hpp.

get_waypoint_rejections_client_

GetWaypointRejectionsClient::SharedPtr moveit_pro::behaviors::RetrieveWaypoint::get_waypoint_rejections_client_

Definition at line 71 of file retrieve_waypoint.hpp.

get_waypoints_client_

GetWaypointsClient::SharedPtr moveit_pro::behaviors::RetrieveWaypoint::get_waypoints_client_

Definition at line 67 of file retrieve_waypoint.hpp.

rejections_future_

std::optional<GetWaypointRejectionsClient::FutureAndRequestId> moveit_pro::behaviors::RetrieveWaypoint::rejections_future_

Definition at line 80 of file retrieve_waypoint.hpp.

request_future_

std::optional<GetWaypointsClient::FutureAndRequestId> moveit_pro::behaviors::RetrieveWaypoint::request_future_

Definition at line 74 of file retrieve_waypoint.hpp.

waypoints_response_

GetWaypoints::Response::SharedPtr moveit_pro::behaviors::RetrieveWaypoint::waypoints_response_

Definition at line 77 of file retrieve_waypoint.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 40 of file retrieve_waypoint.hpp, definition at line 104 of file retrieve_waypoint.cpp.

providedPorts()

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

static

Declaration at line 38 of file retrieve_waypoint.hpp, definition at line 90 of file retrieve_waypoint.cpp.

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

• retrieve_waypoint.hpp
• retrieve_waypoint.cpp

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