Capture an image. The name of the topic containing the image is set through the "topic_name" parameter, and the resulting image is available on the "message_out" output port. More...

#include <get_image.hpp>

Inheritance diagram for moveit_pro::behaviors::GetImage:

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Collaboration diagram for moveit_pro::behaviors::GetImage:

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

Public Member Functions inherited from moveit_pro::behaviors::GetMessageFromTopicBehaviorBase< sensor_msgs::msg::Image >
	GetMessageFromTopicBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs GetMessageFromTopicBehaviorBase using the RclcppSubscriberInterface.

	GetMessageFromTopicBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< SubscriberInterface< sensor_msgs::msg::Image > > subscriber_interface)
	Constructs GetMessageFromTopicBehaviorBase using a user-provided implementation of SubscriberInterface.

	~GetMessageFromTopicBehaviorBase () 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.

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 ()

Additional Inherited Members
Static Public Attributes inherited from moveit_pro::behaviors::GetMessageFromTopicBehaviorBase< sensor_msgs::msg::Image >
static constexpr auto	kPortIDTopicName
	Port names.

static constexpr auto	kPortIDMessageOut

static constexpr auto	kPortIDTimeoutDuration

static constexpr auto	kPortIDPublisherTimeoutDuration

Detailed Description

Capture an image. The name of the topic containing the image is set through the "topic_name" parameter, and the resulting image is available on the "message_out" output port.

Data Port Name	Port Type	Object Type
topic_name	input	std::string
message_timeout_sec	input	double
published_timeout_sec	input	double
message_out	output	sensor_msgs::msg::Image

Constructor & Destructor Documentation

◆ GetImage()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions