SetAdmittanceParameters Class

Sets admittance parameters to be used in the 'ExecuteTrajectory' Behavior. More...

Declaration

class moveit_pro::behaviors::SetAdmittanceParameters { ... }

Included Headers

#include <set_admittance_parameters.hpp>

Base class

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

Public Constructors Index

	SetAdmittanceParameters (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs the SetAdmittanceParameters Behavior. More...

Public Member Functions Index

BT::NodeStatus	tick () override

Private Member Functions Index

tl::expected< void, std::string >	createAdmittanceParameters (const AdmittanceControllerParams &params)
	Builds an AdmittanceParameters message from the given parameters and writes it to the output port. More...

Public Static Functions Index

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

Description

Sets admittance parameters to be used in the 'ExecuteTrajectory' Behavior.

This behavior sets admittance parameters for a JointTrajectoryAdmittanceController (JTAC). A set of parameters will be loaded from a YAML file and displayed in the UI for the user to modify. Any modifications will be stored back to the YAML file. If the given YAML file doesn't exist, a default set of parameters will be created. The parameters are returned in an output port as an 'AdmittanceParameters' message, which can be used as input to the 'ExecuteTrajectory' Behavior.

Data Port Name	Port Type	Object Type
config_file_name	input	std::string
admittance_parameters_msg	output	moveit_pro_controllers_msgs::msg::AdmittanceParameters

Definition at line 202 of file set_admittance_parameters.hpp.

Public Constructors

SetAdmittanceParameters()

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

explicit

Constructs the SetAdmittanceParameters Behavior.

Parameters

name	Name of the Behavior node.
config	Behavior node configuration, including ports and blackboard.
shared_resources	Resources shared across Behaviors, such as the ROS node, TF buffer, and logger.

Declaration at line 211 of file set_admittance_parameters.hpp, definition at line 126 of file set_admittance_parameters.cpp.

Public Member Functions

tick()

BT::NodeStatus moveit_pro::behaviors::SetAdmittanceParameters::tick ()

Declaration at line 218 of file set_admittance_parameters.hpp, definition at line 151 of file set_admittance_parameters.cpp.

Private Member Functions

createAdmittanceParameters()

tl::expected< void, std::string > moveit_pro::behaviors::SetAdmittanceParameters::createAdmittanceParameters (const AdmittanceControllerParams & params)

Builds an AdmittanceParameters message from the given parameters and writes it to the output port.

Parameters

params

Struct containing the admittance parameters.

Returns

Nothing if successful, else an error.

Declaration at line 226 of file set_admittance_parameters.hpp, definition at line 219 of file set_admittance_parameters.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 216 of file set_admittance_parameters.hpp, definition at line 145 of file set_admittance_parameters.cpp.

providedPorts()

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

static

Declaration at line 214 of file set_admittance_parameters.hpp, definition at line 132 of file set_admittance_parameters.cpp.

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

• set_admittance_parameters.hpp
• set_admittance_parameters.cpp

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