A base class for behaviors which need to send a goal to a ROS action client and wait for a result. If the behavior is halted before the action result is received, the action goal will be canceled. More...

#include <action_client_behavior_base.hpp>

Inheritance diagram for moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >:

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Collaboration diagram for moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >:

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Classes
class	ClientInterfaceBase
	Provides an interface to an action client that can handle a single goal at a time. More...

class	RclcppClientInterface
	Implements ClientInterfaceBase for the rclcpp action client. More...

Public Types
using	ClientGoalHandle = rclcpp_action::ClientGoalHandle< ActionT >

Public Member Functions
	ActionClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ActionClientBehaviorBase using the RclcppClientInterface.

	ActionClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase > client_interface)
	Constructs ActionClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.

virtual	~ActionClientBehaviorBase ()=default

virtual tl::expected< std::string, std::string >	getActionName ()=0
	User-provided function to get the name of the action when initializing the action client.

virtual tl::expected< std::chrono::duration< double >, std::string >	getResultTimeout ()
	Optional user-provided function to set the timeout used when waiting for the action result.

virtual tl::expected< typename ActionT::Goal, std::string >	createGoal ()=0
	User-provided function to create the action goal before sending the action goal request.

virtual tl::expected< bool, std::string >	processResult (const std::shared_ptr< typename ActionT::Result >)
	Optional user-provided function to process the action result after the action has finished.

virtual void	processFeedback (const std::shared_ptr< const typename ActionT::Feedback >)
	Optional user-provided function to process feedback sent by the action server.

virtual std::string	getTimeoutMessage () const
	Optional user-provided function to retrieve and surface an error message when a timeout occurs before the goal result is returned.

virtual std::string	getServerUnavailableMessage (const std::string &action_name) const
	Optional user-provided function to retrieve and surface an error message when the action server is not available after waiting for the server timeout duration.

virtual std::string	getAbortedMessage (const std::shared_ptr< const typename ActionT::Result >) const
	Optional user-provided function to retrieve and surface an error message from an aborted action server result.

Public Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	~AsyncBehaviorBase () override=default

BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().

BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().

void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().

void	resetStatus ()
	Resets the internal status of this node.

virtual std::shared_future< tl::expected< bool, std::string > > &	getFuture ()=0
	Gets the shared future which is used to monitor the progress of the async process.

void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &behavior_context)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

const std::shared_ptr< BehaviorContext > &	getBehaviorContext () const

Detailed Description

template<typename ActionT>
class moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >

A base class for behaviors which need to send a goal to a ROS action client and wait for a result. If the behavior is halted before the action result is received, the action goal will be canceled.

Important: If a halt is requested before the action goal request is sent to the action server or before the action goal response has been received from the action server, the behavior will wait to halt until the action goal response has been received then request that the action goal be canceled, and will finally wait until the in-progress action goal has finished.

Template Parameters

ActionT ROS action message type used to specialize this class for a specific action

Member Typedef Documentation

◆ ClientGoalHandle

template<typename ActionT >

using moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientGoalHandle = rclcpp_action::ClientGoalHandle<ActionT>

Constructor & Destructor Documentation

◆ ActionClientBehaviorBase() [1/2]

template<typename ActionT >

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

Constructs ActionClientBehaviorBase using the RclcppClientInterface.

◆ ActionClientBehaviorBase() [2/2]

template<typename ActionT >

moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ActionClientBehaviorBase	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase >	client_interface
	)

Constructs ActionClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.

◆ ~ActionClientBehaviorBase()

template<typename ActionT >

virtual moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::~ActionClientBehaviorBase ( )

virtualdefault

Member Function Documentation

◆ createGoal()

template<typename ActionT >

virtual tl::expected< typename ActionT::Goal, std::string > moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::createGoal ( )

pure virtual

User-provided function to create the action goal before sending the action goal request.

Returns: Returns an action goal message. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

◆ getAbortedMessage()

template<typename ActionT >

virtual std::string moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::getAbortedMessage ( const std::shared_ptr< const typename ActionT::Result > ) const

inlinevirtual

Optional user-provided function to retrieve and surface an error message from an aborted action server result.

If no user-defined implementation is provided, then this method will simply return "Action goal was aborted."

Parameters

result Action result message to process.

◆ getActionName()

template<typename ActionT >

virtual tl::expected< std::string, std::string > moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::getActionName ( )

pure virtual

User-provided function to get the name of the action when initializing the action client.

Returns: Returns the name of the action. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

Implemented in moveit_pro::behaviors::ComputePathToPoseAction, moveit_pro::behaviors::FollowPathAction, moveit_pro::behaviors::NavigateThroughPosesAction, and moveit_pro::behaviors::NavigateToPoseAction.

◆ getResultTimeout()

template<typename ActionT >

virtual tl::expected< std::chrono::duration< double >, std::string > moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::getResultTimeout ( )

inlinevirtual

Optional user-provided function to set the timeout used when waiting for the action result.

If no user-defined implementation is provided, the default implementation returns a negative duration, which will cause the action client to wait for the result without timing out.

Returns: Returns the action result timeout duration. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

◆ getServerUnavailableMessage()

template<typename ActionT >

virtual std::string moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::getServerUnavailableMessage ( const std::string & action_name ) const

inlinevirtual

Optional user-provided function to retrieve and surface an error message when the action server is not available after waiting for the server timeout duration.

Override this in derived classes to provide context-specific guidance when the action server cannot be found. If no user-defined implementation is provided, then this method will return a generic error message.

◆ getTimeoutMessage()

template<typename ActionT >

virtual std::string moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::getTimeoutMessage ( ) const

inlinevirtual

Optional user-provided function to retrieve and surface an error message when a timeout occurs before the goal result is returned.

If no user-defined implementation is provided, then this method will simply return "Timed out waiting for action result. Action canceled."

Reimplemented in moveit_pro::behaviors::MoveGripperAction.

◆ processFeedback()

template<typename ActionT >

virtual void moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::processFeedback ( const std::shared_ptr< const typename ActionT::Feedback > )

inlinevirtual

Optional user-provided function to process feedback sent by the action server.

If no user-defined implementation is provided, then no additional processing will be performed on action feedback and this function will always return void.

Parameters

feedback Action feedback message to process.

◆ processResult()

template<typename ActionT >

virtual tl::expected< bool, std::string > moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::processResult ( const std::shared_ptr< typename ActionT::Result > )

inlinevirtual

Optional user-provided function to process the action result after the action has finished.

If no user-defined implementation is provided, then no additional processing will be performed on succeeding action results and this function will always return true.

Parameters

result Action result message to process.

Returns: By default, always returns true. If a user-defined implementation of this function is provided, returns true or false if the result was processed successfully, or an error message if the result could not be processed. Note that the criteria for success or failure in this case is defined by the user's implementation of this function.

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

Classes

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ClientGoalHandle

Constructor & Destructor Documentation

◆ ActionClientBehaviorBase() [1/2]

◆ ActionClientBehaviorBase() [2/2]

◆ ~ActionClientBehaviorBase()

Member Function Documentation

◆ createGoal()

◆ getAbortedMessage()

◆ getActionName()

◆ getResultTimeout()

◆ getServerUnavailableMessage()

◆ getTimeoutMessage()

◆ processFeedback()

◆ processResult()