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 >

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, 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 31 of file retrieve_waypoint.hpp.

Private Member Typedefs

GetWaypoints

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

Definition at line 49 of file retrieve_waypoint.hpp.

GetWaypointsClient

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

Definition at line 50 of file retrieve_waypoint.hpp.

Waypoint

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

Definition at line 48 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 34 of file retrieve_waypoint.hpp, definition at line 71 of file retrieve_waypoint.cpp.

Public Member Functions

onHalted()

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

Declaration at line 45 of file retrieve_waypoint.hpp, definition at line 167 of file retrieve_waypoint.cpp.

onRunning()

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

Declaration at line 43 of file retrieve_waypoint.hpp, definition at line 127 of file retrieve_waypoint.cpp.

onStart()

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

Declaration at line 41 of file retrieve_waypoint.hpp, definition at line 98 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 54 of file retrieve_waypoint.hpp, definition at line 176 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 64 of file retrieve_waypoint.hpp.

get_waypoints_client_

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

Definition at line 58 of file retrieve_waypoint.hpp.

request_future_

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

Definition at line 61 of file retrieve_waypoint.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 39 of file retrieve_waypoint.hpp, definition at line 93 of file retrieve_waypoint.cpp.

providedPorts()

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

static

Declaration at line 37 of file retrieve_waypoint.hpp, definition at line 79 of file retrieve_waypoint.cpp.

---

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

• retrieve_waypoint.hpp
• retrieve_waypoint.cpp

---

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.