moveit_pro::behaviors::PublishTF Class Reference

Publishes a dynamic transform on /tf at a configured rate. More...

#include <publish_tf.hpp>

Inheritance diagram for moveit_pro::behaviors::PublishTF:

Collaboration diagram for moveit_pro::behaviors::PublishTF:

Public Member Functions
	PublishTF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	onStart () override
BT::NodeStatus	onRunning () override
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

Publishes a dynamic transform on /tf at a configured rate.

The transform is republished by a timer at the requested rate for as long as this node is running, and stops being published when the node is halted. Wrap this in a Parallel or a long-lived decorator (e.g. KeepRunningUntilFailure) for the frame to remain available to downstream Behaviors. For a truly static frame that persists after the node halts and is broadcast on /tf_static, a future PublishStaticTF Behavior should be used instead — this one is unsuitable for static frames despite its previous misleading name PublishStaticFrame.

Data Port Name	Port Type	Object Type
pose	input	geometry_msgs::msg::PoseStamped
child_frame_id	input	std::string
publish_rate	input	int

Constructor & Destructor Documentation

PublishTF()

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

Member Function Documentation

metadata()

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

static

onHalted()

void moveit_pro::behaviors::PublishTF::onHalted ( )

override

onRunning()

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

override

onStart()

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

override

providedPorts()

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

static

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

• publish_tf.hpp
• publish_tf.cpp