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". If set to "save", then the "joint_group_names" parameter must also be set to specify which joint groups to include in the saved waypoint. More...

#include <edit_waypoint.hpp>

Inheritance diagram for moveit_pro::behaviors::EditWaypoint:

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Collaboration diagram for moveit_pro::behaviors::EditWaypoint:

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Public Member Functions
	EditWaypoint (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::chrono::duration< double > timeout=std::chrono::seconds(3))

	EditWaypoint (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< EditWaypoints > > client_interface, std::chrono::duration< double > timeout=std::chrono::seconds(3))
	Constructor for EditWaypoint behavior that allows for mocking of the rclcpp service client.

Public Member Functions inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< EditWaypoints >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface.

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

	~ServiceClientBehaviorBase () override=default

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.

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
Static Public Attributes inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< EditWaypoints >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< EditWaypoints >
virtual tl::expected< std::chrono::duration< double >, std::string >	getWaitForServerAvailableTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service server to be available.

virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished.

tl::expected< void, std::string >	doHalt () override
	Handles halting logic which is specific to the service client behavior implementation.

Protected Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

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". If set to "save", then the "joint_group_names" parameter must also be set to specify which joint groups to include in the saved waypoint.

Data Port Name	Port Type	Object Type
waypoint_name	input	std::string
waypoint_operation	input	std::string
joint_group_names	input	std::vector<std::string>

Constructor & Destructor Documentation

◆ EditWaypoint() [1/2]

moveit_pro::behaviors::EditWaypoint::EditWaypoint	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::chrono::duration< double >	timeout = `std::chrono::seconds(3)`
	)

◆ EditWaypoint() [2/2]

moveit_pro::behaviors::EditWaypoint::EditWaypoint	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase< EditWaypoints > >	client_interface,
		std::chrono::duration< double >	timeout = `std::chrono::seconds(3)`
	)

Constructor for EditWaypoint behavior that allows for mocking of the rclcpp service client.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions

Static Public Member Functions