RetrieveWaypoint Class

Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint. 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 >

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

Private Member Attributes Index

GetWaypointsClient::SharedPtr	get_waypoints_client_
std::optional< GetWaypointsClient::FutureAndRequestId >	request_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.

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

Definition at line 30 of file retrieve_waypoint.hpp.

Private Member Typedefs

GetWaypoints

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

Definition at line 48 of file retrieve_waypoint.hpp.

GetWaypointsClient

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

Definition at line 49 of file retrieve_waypoint.hpp.

Waypoint

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

Definition at line 47 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 33 of file retrieve_waypoint.hpp, definition at line 34 of file retrieve_waypoint.cpp.

Public Member Functions

onHalted()

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

Declaration at line 44 of file retrieve_waypoint.hpp, definition at line 128 of file retrieve_waypoint.cpp.

onRunning()

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

Declaration at line 42 of file retrieve_waypoint.hpp, definition at line 88 of file retrieve_waypoint.cpp.

onStart()

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

Declaration at line 40 of file retrieve_waypoint.hpp, definition at line 59 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)

Declaration at line 53 of file retrieve_waypoint.hpp, definition at line 137 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 63 of file retrieve_waypoint.hpp.

get_waypoints_client_

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

Definition at line 57 of file retrieve_waypoint.hpp.

request_future_

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

Definition at line 60 of file retrieve_waypoint.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 38 of file retrieve_waypoint.hpp, definition at line 54 of file retrieve_waypoint.cpp.

providedPorts()

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

static

Declaration at line 36 of file retrieve_waypoint.hpp, definition at line 42 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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