VisualizePath Class

Publishes a marker array that contains a polyline representing a path. More...

Declaration

class moveit_pro::behaviors::VisualizePath { ... }

Included Headers

#include <visualize_path.hpp>

Base class

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

Public Constructors Index

	VisualizePath (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 > >	publisher_

Public Static Functions Index

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

Public Static Attributes Index

static constexpr auto	kPortIDPath = "path"
static constexpr auto	kPortIDMarkerLifetime = "marker_lifetime"
static constexpr auto	kPortIDMarkerName = "marker_name"
static constexpr auto	kPortIDShowPoses = "show_poses"
static constexpr auto	kPortIDPoseMarkerSize = "pose_marker_size"
static constexpr auto	kPortIDLineColorRgb = "line_color_rgb"
static constexpr auto	kPortIDLineWidth = "line_width"

Description

Publishes a marker array that contains a polyline representing a path.

This Behavior composes a visualization_msgs::msg::MarkerArray message which contains the path to visualize. 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. 'marker_lifetime' is the time in seconds that the path will be visualized. A value of 0 will visualize the path indefinitely.

Data Port Name	Port Type	Object Type
path	input	std::vector<geometry_msgs::msg::PoseStamped>
marker_lifetime	input	double
marker_name	input	std::string
show_poses	input	bool
pose_marker_size	input	double
line_color_rgb	input	std::vector<int>
line_width	input	double

Definition at line 40 of file visualize_path.hpp.

Public Constructors

VisualizePath()

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

Declaration at line 51 of file visualize_path.hpp, definition at line 138 of file visualize_path.cpp.

Public Member Functions

tick()

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

Declaration at line 58 of file visualize_path.hpp, definition at line 170 of file visualize_path.cpp.

Private Member Attributes

publisher_

std::shared_ptr<rclcpp::Publisher<visualization_msgs::msg::MarkerArray> > moveit_pro::behaviors::VisualizePath::publisher_

Definition at line 62 of file visualize_path.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 56 of file visualize_path.hpp, definition at line 165 of file visualize_path.cpp.

providedPorts()

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

static

Declaration at line 54 of file visualize_path.hpp, definition at line 146 of file visualize_path.cpp.

Public Static Attributes

kPortIDLineColorRgb

constexpr auto moveit_pro::behaviors::VisualizePath::kPortIDLineColorRgb = "line_color_rgb"

constexpr static

Definition at line 48 of file visualize_path.hpp.

kPortIDLineWidth

constexpr auto moveit_pro::behaviors::VisualizePath::kPortIDLineWidth = "line_width"

constexpr static

Definition at line 49 of file visualize_path.hpp.

kPortIDMarkerLifetime

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

constexpr static

Definition at line 44 of file visualize_path.hpp.

kPortIDMarkerName

constexpr auto moveit_pro::behaviors::VisualizePath::kPortIDMarkerName = "marker_name"

constexpr static

Definition at line 45 of file visualize_path.hpp.

kPortIDPath

constexpr auto moveit_pro::behaviors::VisualizePath::kPortIDPath = "path"

constexpr static

Definition at line 43 of file visualize_path.hpp.

kPortIDPoseMarkerSize

constexpr auto moveit_pro::behaviors::VisualizePath::kPortIDPoseMarkerSize = "pose_marker_size"

constexpr static

Definition at line 47 of file visualize_path.hpp.

kPortIDShowPoses

constexpr auto moveit_pro::behaviors::VisualizePath::kPortIDShowPoses = "show_poses"

constexpr static

Definition at line 46 of file visualize_path.hpp.

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

• visualize_path.hpp
• visualize_path.cpp

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