WaitForUserTrajectoryApproval 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::WaitForUserTrajectoryApproval { ... }

Included Headers

#include <wait_for_user_trajectory_approval.hpp>

Base class

class	WaitForMTCSolutionApproval
	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...

Public Static Functions Index

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

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.

Preserved as a thin subclass of WaitForMTCSolutionApproval so the WaitForUserTrajectoryApproval plugin id and its port signature keep working for existing Subtrees and Objectives; all runtime behavior comes from the base.

Deprecated

This Behavior is deprecated. Use WaitForMTCSolutionApproval instead.

Data Port Name	Port Type	Object Type
solution	Input	moveit_task_constructor_msgs::msg::Solution
cartesian_path_links	Input	std::vector<std::string>

Definition at line 30 of file wait_for_user_trajectory_approval.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 37 of file wait_for_user_trajectory_approval.hpp, definition at line 36 of file wait_for_user_trajectory_approval.cpp.

providedPorts()

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

static

Declaration at line 35 of file wait_for_user_trajectory_approval.hpp, definition at line 28 of file wait_for_user_trajectory_approval.cpp.

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

• wait_for_user_trajectory_approval.hpp
• wait_for_user_trajectory_approval.cpp

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