moveit_pro::behaviors::EditWaypoint Class Reference

Use the /edit_waypoints service to save the robot's current state as a new named waypoint or erase an existing waypoint. The name of the waypoint to save or delete is set through the "waypoint_name" behavior parameter. The operation to perform on the waypoint is set through the "waypoint_operation" behavior parameter, which must be set to either "save" or "erase". More...

#include <edit_waypoint.hpp>

Inheritance diagram for moveit_pro::behaviors::EditWaypoint:

Collaboration diagram for moveit_pro::behaviors::EditWaypoint:

Public Member Functions
	EditWaypoint (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	onStart () override
	Creates an /edit_waypoints service client and checks for the availability of a corresponding service server.
BT::NodeStatus	onRunning () override
	Sends a request to the /edit_waypoints service to edit, and waits for a response to be received.
void	onHalted () override
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 > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

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

Additional Inherited Members
Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Use the /edit_waypoints service to save the robot's current state as a new named waypoint or erase an existing waypoint. The name of the waypoint to save or delete is set through the "waypoint_name" behavior parameter. The operation to perform on the waypoint is set through the "waypoint_operation" behavior parameter, which must be set to either "save" or "erase".

Data Port Name	Port Type	Object Type
waypoint_name	input	std::string
waypoint_operation	input	std::string

Constructor & Destructor Documentation

EditWaypoint()

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

Member Function Documentation

metadata()

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

static

onHalted()

void moveit_pro::behaviors::EditWaypoint::onHalted ( )

override

onRunning()

BT::NodeStatus moveit_pro::behaviors::EditWaypoint::onRunning ( )

override

Sends a request to the /edit_waypoints service to edit, and waits for a response to be received.

method invoked by an action in the RUNNING state.

Returns

Success if the service response is received and the response status is successful. Failure if the service response is not received before the timeout. Failure if the response status is not successful.

onStart()

BT::NodeStatus moveit_pro::behaviors::EditWaypoint::onStart ( )

override

Creates an /edit_waypoints service client and checks for the availability of a corresponding service server.

Returns

Running if the service server exists, Failure if it does not exist.

providedPorts()

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

static

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

• edit_waypoint.hpp
• edit_waypoint.cpp