VisualizePose Class

Publishes a visualization marker that contains three lines composing a coordinate frame. More...

Declaration

class moveit_pro::behaviors::VisualizePose { ... }

Included Headers

#include <visualize_pose.hpp>

Base class

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

Public Constructors Index

	VisualizePose (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	kPortIDPose = "pose"
static constexpr auto	kPortIDMarkerSize = "marker_size"
static constexpr auto	kPortIDMarkerLifetime = "marker_lifetime"
static constexpr auto	kPortIDMarkerName = "marker_name"
static constexpr auto	kPortIDMarkerText = "marker_text"

Description

Publishes a visualization marker that contains three lines composing a coordinate frame.

This Behavior composes a visualization_msgs::msg::MarkerArray message which contains the frame 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
pose	input	geometry_msgs::msg::PoseStamped
marker_size	input	double
marker_lifetime	input	double
marker_name	input	std::string
marker_text	input	std::string

Definition at line 38 of file visualize_pose.hpp.

Public Constructors

VisualizePose()

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

Declaration at line 47 of file visualize_pose.hpp, definition at line 33 of file visualize_pose.cpp.

Public Member Functions

tick()

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

Declaration at line 54 of file visualize_pose.hpp, definition at line 62 of file visualize_pose.cpp.

Private Member Attributes

publisher_

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

Definition at line 58 of file visualize_pose.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 52 of file visualize_pose.hpp, definition at line 57 of file visualize_pose.cpp.

providedPorts()

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

static

Declaration at line 50 of file visualize_pose.hpp, definition at line 41 of file visualize_pose.cpp.

Public Static Attributes

kPortIDMarkerLifetime

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

constexpr static

Definition at line 43 of file visualize_pose.hpp.

kPortIDMarkerName

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

constexpr static

Definition at line 44 of file visualize_pose.hpp.

kPortIDMarkerSize

constexpr auto moveit_pro::behaviors::VisualizePose::kPortIDMarkerSize = "marker_size"

constexpr static

Definition at line 42 of file visualize_pose.hpp.

kPortIDMarkerText

constexpr auto moveit_pro::behaviors::VisualizePose::kPortIDMarkerText = "marker_text"

constexpr static

Definition at line 45 of file visualize_pose.hpp.

kPortIDPose

constexpr auto moveit_pro::behaviors::VisualizePose::kPortIDPose = "pose"

constexpr static

Definition at line 41 of file visualize_pose.hpp.

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

• visualize_pose.hpp
• visualize_pose.cpp

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