WaitForMTCSolutionApproval Class
Takes an MTC Solution message via an input data port and publishes it to the /preview_solution topic. Creates a SetBool service server on the /execute_behavior_solution topic and waits to receive a request containing data: true before succeeding. Visualizes the cartesian path for each valid input link name with a green line while waiting. More...
Declaration
class moveit_pro::behaviors::WaitForMTCSolutionApproval { ... }
#include <wait_for_mtc_solution_approval.hpp>
Base class
Derived Classes
| class | WaitForUserTrajectoryApproval |
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Takes an MTC Solution message via an input data port, and publishes it to the /preview_solution topic. Creates a SetBool service server on the /execute_behavior_solution topic and waits to receive a request containing data: true before succeeding. Visualizes the cartesian path for each valid input link name with a green line while waiting. More...
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Public Member Functions Index
Public Static Functions Index
Description
Takes an MTC Solution message via an input data port and publishes it to the /preview_solution topic. Creates a SetBool service server on the /execute_behavior_solution topic and waits to receive a request containing data: true before succeeding. Visualizes the cartesian path for each valid input link name with a green line while waiting.
| Data Port Name | Port Type | Object Type |
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| solution | Input | moveit_task_constructor_msgs::msg::Solution |
| cartesian_path_links | Input | std::vector<std::string> |
IMPORTANT: This Behavior creates a SetBool service server on the /execute_behavior_solution topic. Only one Behavior (of any class) that claims this service name can be instantiated per Objective; multiple instances will cause service-server conflicts. This interface will need to change to resolve the conflict robustly.
Definition at line 29 of file wait_for_mtc_solution_approval.hpp.
Public Member Functions
onStart()
| BT::NodeStatus moveit_pro::behaviors::WaitForMTCSolutionApproval::onStart () |
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Public Static Functions
metadata()
| BT::KeyValueVector moveit_pro::behaviors::WaitForMTCSolutionApproval::metadata () |
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static
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providedPorts()
| BT::PortsList moveit_pro::behaviors::WaitForMTCSolutionApproval::providedPorts () |
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static
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