scenario_runner Namespace

Definition

namespace pro_rrt::scenario_runner { ... }

Classes Index

struct	RunResult

Functions Index

tl::expected< RunResult, std::string >	runScenario (const std::filesystem::path &scenario_dir)

Description

In-process scenario runner. Reads a captured pro_rrt scenario from disk, reconstructs the planner inputs (robot model, planning scene, request), and re-runs pro_rrt::planTrajectoryToJointGoal — without spawning a subprocess. Both the standalone pro_rrt_replay binary and the in-process pro_rrt_benchmark driver call this.

The caller must have already invoked rclcpp::init() exactly once at process startup, and is responsible for rclcpp::shutdown() at exit. Each call to runScenario creates a transient rclcpp::Node (with the scenario's joint_limits.yaml / kinematics.yaml loaded via NodeOptions::arguments({"--ros-args","--params-file",…})) and destroys it on return; no per-scenario state leaks between calls.

Functions

runScenario()

tl::expected< RunResult, std::string > pro_rrt::scenario_runner::runScenario (const std::filesystem::path & scenario_dir)

Returns tl::unexpected with a human-readable message on disk / parse / setup failure. The planner returning a failure (e.g. "no path found") is reported as result.success=false inside the value path, NOT as an unexpected.

Definition at line 431 of file scenario_runner.cpp.

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The documentation for this namespace was generated from the following file:

• scenario_runner.cpp

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