A base class for behaviors which need to send a request to a ROS service client and wait for a result. More...

#include <service_client_behavior_base.hpp>

Inheritance diagram for moveit_pro::behaviors::ServiceClientBehaviorBase< ServiceT >:

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Collaboration diagram for moveit_pro::behaviors::ServiceClientBehaviorBase< ServiceT >:

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Public Member Functions
	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< ServiceT > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.

	~ServiceClientBehaviorBase () override=default

virtual tl::expected< std::string, std::string >	getServiceName ()=0
	User-provided function to get the name of the service when initializing the service client.

virtual tl::expected< std::chrono::duration< double >, std::string >	getResponseTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service response.

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< typename ServiceT::Request, std::string >	createRequest ()=0
	User-provided function to create the service request.

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.

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.

virtual std::shared_future< tl::expected< bool, std::string > > &	getFuture ()=0
	Gets the shared future which is used to monitor the progress of the async process.

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 Attributes
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer { 3 }

Detailed Description

template<typename ServiceT>
class moveit_pro::behaviors::ServiceClientBehaviorBase< ServiceT >

A base class for behaviors which need to send a request to a ROS service client and wait for a result.

Important: If a halt is requested before the service request is sent to the service server, the behavior will wait to halt until the service response has been received or the timeout duration has elapsed.

Template Parameters

ServiceT ROS service message type used to specialize this class for a specific service.

Constructor & Destructor Documentation

◆ ServiceClientBehaviorBase() [1/2]

template<typename ServiceT >

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

Constructs ServiceClientBehaviorBase using the RclcppClientInterface.

◆ ServiceClientBehaviorBase() [2/2]

template<typename ServiceT >

moveit_pro::behaviors::ServiceClientBehaviorBase< ServiceT >::ServiceClientBehaviorBase	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase< ServiceT > >	client_interface
	)

Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.

◆ ~ServiceClientBehaviorBase()

template<typename ServiceT >

moveit_pro::behaviors::ServiceClientBehaviorBase< ServiceT >::~ServiceClientBehaviorBase ( )

overridedefault

Member Function Documentation

◆ createRequest()

template<typename ServiceT >

virtual tl::expected< typename ServiceT::Request, std::string > moveit_pro::behaviors::ServiceClientBehaviorBase< ServiceT >::createRequest ( )

pure virtual

User-provided function to create the service request.

Returns: Returns a service request message. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

◆ doHalt()

template<typename ServiceT >

tl::expected< void, std::string > moveit_pro::behaviors::ServiceClientBehaviorBase< ServiceT >::doHalt ( )

overridevirtual

Handles halting logic which is specific to the service client behavior implementation.

This cancels the in-progress service request when the behavior is halted.

Returns: Always return void, since there isn't anything special to do if the cancel request is rejected other than wait for doWork() to time out or finish on its own.

Reimplemented from moveit_pro::behaviors::AsyncBehaviorBase.

◆ getResponseTimeout()

template<typename ServiceT >

virtual tl::expected< std::chrono::duration< double >, std::string > moveit_pro::behaviors::ServiceClientBehaviorBase< ServiceT >::getResponseTimeout ( )

inlinevirtual

Optional user-provided function to set the timeout used when waiting for the service response.

If no user-defined implementation is provided, the default implementation returns a negative duration, which will cause the service client to wait for the response without timing out.

Returns: Returns the service response timeout duration. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

◆ getServiceName()

template<typename ServiceT >

virtual tl::expected< std::string, std::string > moveit_pro::behaviors::ServiceClientBehaviorBase< ServiceT >::getServiceName ( )

pure virtual

User-provided function to get the name of the service when initializing the service client.

Returns: Returns the name of the service. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

◆ getWaitForServerAvailableTimeout()

template<typename ServiceT >

virtual tl::expected< std::chrono::duration< double >, std::string > moveit_pro::behaviors::ServiceClientBehaviorBase< ServiceT >::getWaitForServerAvailableTimeout ( )

inlinevirtual

Optional user-provided function to set the timeout used when waiting for the service server to be available.

If no user-defined implementation is provided, the default implementation returns 3.0 seconds, which will be the timeout duration for waiting for the service server to become available.

Returns: Returns the service server wait timeout duration. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

◆ processResponse()

template<typename ServiceT >

virtual tl::expected< bool, std::string > moveit_pro::behaviors::ServiceClientBehaviorBase< ServiceT >::processResponse ( const typename ServiceT::Response & )

inlinevirtual

Optional user-provided function to process the service response after the service has finished.

If no user-defined implementation is provided, then no additional processing will be performed on succeeding service responses and this function will always return void.

Parameters

response Service response message to process.

Returns: Returns true or false depending on the user's implementation if the service response could be processed successfully. If the service response could not be processed, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

Member Data Documentation

◆ kTimeoutWaitForServiceServer

template<typename ServiceT >

constexpr std::chrono::seconds moveit_pro::behaviors::ServiceClientBehaviorBase< ServiceT >::kTimeoutWaitForServiceServer { 3 }

staticconstexpr

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

Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ServiceClientBehaviorBase() [1/2]

◆ ServiceClientBehaviorBase() [2/2]

◆ ~ServiceClientBehaviorBase()

Member Function Documentation

◆ createRequest()

◆ doHalt()

◆ getResponseTimeout()

◆ getServiceName()

◆ getWaitForServerAvailableTimeout()

◆ processResponse()

Member Data Documentation

◆ kTimeoutWaitForServiceServer