Walks an MTC Task and saves all introspection data (stage tree, statistics, every solution and failure, interface states, per-stage failure explanations) to a JSON file on disk. More...

#include <save_mtc_task_inspection.hpp>

Inheritance diagram for moveit_pro::behaviors::SaveMTCTaskInspection:

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Collaboration diagram for moveit_pro::behaviors::SaveMTCTaskInspection:

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

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
Protected Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
virtual tl::expected< void, std::string >	doHalt ()
	Optionally implement additional work needed to cleanly interrupt the async process.

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

Walks an MTC Task and saves all introspection data (stage tree, statistics, every solution and failure, interface states, per-stage failure explanations) to a JSON file on disk.

Intended for offline triage of MTC planning failures, so the customer can ship a single file back to support instead of needing live RViz access at the moment of failure. Plug it in either as a fallback below PlanMTCTask (to capture only failures) or between Plan and Execute (to capture every plan).

The destination directory accepts:

An absolute path (e.g. /var/log/mtc_inspection).
A path relative to the first configured objectives library directory (e.g. mtc_dumps/eternal_tool_change).
A path beginning with ~ or $HOME, expanded against the current user's home directory.

The file name is always generated as <task_id>_<YYYYMMDDHHMMSSmmm>.json from the task's internal id. The trailing 3 digits are milliseconds-within-second so that rapid back-to-back invocations (e.g. retries inside a Fallback) do not overwrite each other. The absolute path of the written file is exposed on the generated_file output port.

If the Task was created with introspection disabled (enable_introspection set to false on InitializeMTCTask), there is no inspection data to save: this Behavior logs a warning, clears the generated_file output port, and succeeds without writing a file.

Data Port Name	Port Type	Object Type
task	input	std::shared_ptr<moveit_pro::task_constructor::Task>
output_directory	input	std::string
include_trajectories	input	bool
include_scenes	input	bool
generated_file	output	std::string

Warning: Inherits from AsyncBehaviorBase because, with include_scenes=true and a non-trivial planning scene, JSON serialization + disk write can run for hundreds of milliseconds. A synchronous tick would block the BT executor for the duration.

Constructor & Destructor Documentation

◆ SaveMTCTaskInspection()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions