A behavior that subscribes to a topic that can be used for pausing an objective during execution to allow introspection. This behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an objective. More...

#include <breakpoint_subscriber.hpp>

Inheritance diagram for moveit_pro::behaviors::BreakpointSubscriber:

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Collaboration diagram for moveit_pro::behaviors::BreakpointSubscriber:

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Public Member Functions
	BreakpointSubscriber (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	BreakpointSubscriber (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< SubscriberInterface< std_msgs::msg::Bool > > subscriber_interface, std::unique_ptr< PublisherInterfaceBase< moveit_studio_agent_msgs::msg::BreakpointStatus > > encountered_publisher_interface, std::unique_ptr< PublisherInterfaceBase< moveit_studio_agent_msgs::msg::BreakpointStatus > > resumed_publisher_interface)
	Constructor with injected interfaces for testing.

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.

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

Static Public Member Functions
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Detailed Description

A behavior that subscribes to a topic that can be used for pausing an objective during execution to allow introspection. This behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an objective.

Data Port Name	Port Type	Object Type
breakpoint_topic	Input	std::string
message	Input	std::string

The optional message port lets the objective author surface a human-readable hint describing why this breakpoint exists. It is published on /breakpoint_encountered alongside the topic name so the UI can display it under the breakpoint prompt.

Note: IMPORTANT: The breakpoint subscriber has QoS settings of reliable so the publisher to continue or abort is required to match those settings.; EXAMPLE: To continue from a breakpoint on the topic /breakpoint_topic_name the user can enter the following in a terminal to continue. If the value of data is False then the objective will be aborted. ros2 topic pub -1 /breakpoint_topic_name std_msgs/msg/Bool "{data: True}"

Constructor & Destructor Documentation

◆ BreakpointSubscriber() [1/2]

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

◆ BreakpointSubscriber() [2/2]

moveit_pro::behaviors::BreakpointSubscriber::BreakpointSubscriber	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< SubscriberInterface< std_msgs::msg::Bool > >	subscriber_interface,
		std::unique_ptr< PublisherInterfaceBase< moveit_studio_agent_msgs::msg::BreakpointStatus > >	encountered_publisher_interface,
		std::unique_ptr< PublisherInterfaceBase< moveit_studio_agent_msgs::msg::BreakpointStatus > >	resumed_publisher_interface
	)

Constructor with injected interfaces for testing.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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