VisualizeLine Class

Publishes a visualization marker that draws a line between two poses. More...

Declaration

class moveit_pro::behaviors::VisualizeLine { ... }

Included Headers

#include <visualize_line.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Private Member Attributes Index

std::shared_ptr< rclcpp::Publisher< visualization_msgs::msg::MarkerArray > >	marker_publisher_
std::string	marker_namespace_ = fmt::format("VisualizeLine{}", ++instance_counter_)

Public Static Functions Index

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

Public Static Attributes Index

static constexpr auto	kPortIDStartPose = "start_pose"
static constexpr auto	kPortIDEndPose = "end_pose"
static constexpr auto	kPortIDLineThickness = "line_thickness"
static constexpr auto	kPortIDMarkerLifetime = "marker_lifetime"

Private Static Attributes Index

static std::atomic< int >	instance_counter_ { 0 }

Description

Publishes a visualization marker that draws a line between two poses.

This Behavior composes a visualization_msgs::msg::MarkerArray message which contains a green LINE_LIST marker connecting the origins of two input poses. It publishes the message to a ROS topic named /visual_markers, which is then visualized in the UI.

Input poses can be given in any known frame. The Behavior will transform them to the world frame before visualization. If the transform cannot be found, the Behavior will return a FAILURE status.

Each instance gets a unique marker namespace (VisualizeLine1, VisualizeLine2, ...) so multiple lines can coexist without overwriting each other.

Data Port Name	Port Type	Object Type
start_pose	input	geometry_msgs::msg::PoseStamped
end_pose	input	geometry_msgs::msg::PoseStamped
line_thickness	input	double
marker_lifetime	input	double

Definition at line 42 of file visualize_line.hpp.

Public Constructors

VisualizeLine()

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

Declaration at line 50 of file visualize_line.hpp, definition at line 29 of file visualize_line.cpp.

Public Member Functions

tick()

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

Declaration at line 57 of file visualize_line.hpp, definition at line 56 of file visualize_line.cpp.

Private Member Attributes

marker_namespace_

std::string moveit_pro::behaviors::VisualizeLine::marker_namespace_ = fmt::format("VisualizeLine{}", ++instance_counter_)

Definition at line 64 of file visualize_line.hpp.

marker_publisher_

std::shared_ptr<rclcpp::Publisher<visualization_msgs::msg::MarkerArray> > moveit_pro::behaviors::VisualizeLine::marker_publisher_

Definition at line 61 of file visualize_line.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 55 of file visualize_line.hpp, definition at line 51 of file visualize_line.cpp.

providedPorts()

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

static

Declaration at line 53 of file visualize_line.hpp, definition at line 37 of file visualize_line.cpp.

Public Static Attributes

kPortIDEndPose

constexpr auto moveit_pro::behaviors::VisualizeLine::kPortIDEndPose = "end_pose"

constexpr static

Definition at line 46 of file visualize_line.hpp.

kPortIDLineThickness

constexpr auto moveit_pro::behaviors::VisualizeLine::kPortIDLineThickness = "line_thickness"

constexpr static

Definition at line 47 of file visualize_line.hpp.

kPortIDMarkerLifetime

constexpr auto moveit_pro::behaviors::VisualizeLine::kPortIDMarkerLifetime = "marker_lifetime"

constexpr static

Definition at line 48 of file visualize_line.hpp.

kPortIDStartPose

constexpr auto moveit_pro::behaviors::VisualizeLine::kPortIDStartPose = "start_pose"

constexpr static

Definition at line 45 of file visualize_line.hpp.

Private Static Attributes

instance_counter_

std::atomic< int > moveit_pro::behaviors::VisualizeLine::instance_counter_ { 0 }

static

Definition at line 67 of file visualize_line.hpp.

---

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

• visualize_line.hpp
• visualize_line.cpp

---

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.