SetRos2Parameter Class

Set any ROS2 parameter on any node at runtime via the standard set_parameters service. More...

Declaration

class moveit_pro::behaviors::SetRos2Parameter { ... }

Included Headers

#include <set_ros2_parameter.hpp>

Base class

class	ServiceClientBehaviorBase<ServiceT>
	A base class for behaviors which need to send a request to a ROS service client and wait for a result. More...

Public Constructors Index

	SetRos2Parameter (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	SetRos2Parameter (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< SetParameters > > client_interface)

Private Member Functions Index

tl::expected< std::string, std::string >	getServiceName () override
	User-provided function to get the name of the service when initializing the service client. More...
tl::expected< std::chrono::duration< double >, std::string >	getResponseTimeout () override
	Optional user-provided function to set the timeout used when waiting for the service response. More...
tl::expected< std::chrono::duration< double >, std::string >	getWaitForServerAvailableTimeout () override
	Optional user-provided function to set the timeout used when waiting for the service server to be available. More...
tl::expected< SetParameters::Request, std::string >	createRequest () override
	Creates a SetParameters request with a single parameter parsed from port values. More...
tl::expected< bool, std::string >	processResponse (const SetParameters::Response &response) override
	Checks whether the parameter was set successfully. More...
std::shared_future< tl::expected< bool, std::string > > &	getFuture () override
	Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member. More...

Private Member Attributes Index

std::shared_future< tl::expected< bool, std::string > >	future_
	Holds the result of calling the service asynchronously. More...

Public Static Functions Index

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

Description

Set any ROS2 parameter on any node at runtime via the standard set_parameters service.

This Behavior calls the node_name/set_parameters service to update a single parameter. It accepts the parameter value as a string and parses it according to the specified type. Useful for tuning Nav2 costmap parameters (e.g. robot_radius, footprint), controller gains, or any other parameter exposed via the standard ROS2 parameter service.

For array types, provide comma-separated values (e.g. "0.1,0.2,0.3" for double_array).

Data Port Name	Port Type	Object Type
node_name	input	std::string
parameter_name	input	std::string
parameter_value	input	std::string
parameter_type	input	std::string
response_timeout	input	double
wait_for_server_available_timeout	input	double

Definition at line 51 of file set_ros2_parameter.hpp.

Public Constructors

SetRos2Parameter()

moveit_pro::behaviors::SetRos2Parameter::SetRos2Parameter (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources)

explicit

Declaration at line 54 of file set_ros2_parameter.hpp, definition at line 301 of file set_ros2_parameter.cpp.

SetRos2Parameter()

moveit_pro::behaviors::SetRos2Parameter::SetRos2Parameter (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources, std::unique_ptr< ClientInterfaceBase< SetParameters > > client_interface)

explicit

Declaration at line 57 of file set_ros2_parameter.hpp, definition at line 307 of file set_ros2_parameter.cpp.

Private Member Functions

createRequest()

tl::expected< SetParameters::Request, std::string > moveit_pro::behaviors::SetRos2Parameter::createRequest ()

virtual

Creates a SetParameters request with a single parameter parsed from port values.

Returns

The request message, or an error string if port reading or value parsing fails.

Declaration at line 75 of file set_ros2_parameter.hpp, definition at line 381 of file set_ros2_parameter.cpp.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::SetRos2Parameter::getFuture ()

inline virtual

Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

Definition at line 85 of file set_ros2_parameter.hpp.

getResponseTimeout()

tl::expected< std::chrono::duration< double >, std::string > moveit_pro::behaviors::SetRos2Parameter::getResponseTimeout ()

virtual

Optional user-provided function to set the timeout used when waiting for the service response.

If no user-defined implementation is provided, the default implementation returns a negative duration, which will cause the service client to wait for the response without timing out.

Returns

Returns the service response timeout duration. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

Declaration at line 68 of file set_ros2_parameter.hpp, definition at line 361 of file set_ros2_parameter.cpp.

getServiceName()

tl::expected< std::string, std::string > moveit_pro::behaviors::SetRos2Parameter::getServiceName ()

virtual

User-provided function to get the name of the service when initializing the service client.

Returns

Returns the name of the service. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

Declaration at line 66 of file set_ros2_parameter.hpp, definition at line 339 of file set_ros2_parameter.cpp.

getWaitForServerAvailableTimeout()

tl::expected< std::chrono::duration< double >, std::string > moveit_pro::behaviors::SetRos2Parameter::getWaitForServerAvailableTimeout ()

virtual

Optional user-provided function to set the timeout used when waiting for the service server to be available.

If no user-defined implementation is provided, the default implementation returns 3.0 seconds, which will be the timeout duration for waiting for the service server to become available.

Returns

Returns the service server wait timeout duration. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

Declaration at line 69 of file set_ros2_parameter.hpp, definition at line 371 of file set_ros2_parameter.cpp.

processResponse()

tl::expected< bool, std::string > moveit_pro::behaviors::SetRos2Parameter::processResponse (const SetParameters::Response & response)

Checks whether the parameter was set successfully.

Parameters

response

Response message received from the service server.

Returns

True if successful, false with reason if the parameter could not be set.

Declaration at line 82 of file set_ros2_parameter.hpp, definition at line 404 of file set_ros2_parameter.cpp.

Private Member Attributes

future_

std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::SetRos2Parameter::future_

Holds the result of calling the service asynchronously.

Definition at line 93 of file set_ros2_parameter.hpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::SetRos2Parameter::metadata ()

static

Declaration at line 63 of file set_ros2_parameter.hpp, definition at line 334 of file set_ros2_parameter.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::SetRos2Parameter::providedPorts ()

static

Declaration at line 61 of file set_ros2_parameter.hpp, definition at line 314 of file set_ros2_parameter.cpp.

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

• set_ros2_parameter.hpp
• set_ros2_parameter.cpp

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