Use the /get_planning_scene service from move_group to save the robot's current state. More...

#include <save_current_state.hpp>

Inheritance diagram for moveit_pro::behaviors::SaveCurrentState:

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Collaboration diagram for moveit_pro::behaviors::SaveCurrentState:

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

BT::NodeStatus	onStart () override
	Creates an /get_planning_scene service client and checks for the availability of a corresponding service server.

BT::NodeStatus	onRunning () override
	Sends a request to the /get_planning_scene service, 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 /get_planning_scene service from move_group to save the robot's current state.

Data Port Name	Port Type	Object Type
saved_robot_state	Output	sensor_msgs::msg::JointState

Constructor & Destructor Documentation

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

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

static

void moveit_pro::behaviors::SaveCurrentState::onHalted ( )

override

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

override

Sends a request to the /get_planning_scene service, 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.

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

override

Creates an /get_planning_scene 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.

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

static

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