Sets admittance parameters to be used in the 'ExecuteTrajectory' Behavior. More...

#include <set_admittance_parameters.hpp>

Inheritance diagram for moveit_pro::behaviors::SetAdmittanceParameters:

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Collaboration diagram for moveit_pro::behaviors::SetAdmittanceParameters:

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Public Member Functions
	SetAdmittanceParameters (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs the SetAdmittanceParameters Behavior.

BT::NodeStatus	tick () override

Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
	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 ()

Detailed Description

Sets admittance parameters to be used in the 'ExecuteTrajectory' Behavior.

This behavior sets admittance parameters for a JointTrajectoryAdmittanceController (JTAC). A set of parameters will be loaded from a YAML file and displayed in the UI for the user to modify. Any modifications will be stored back to the YAML file. If the given YAML file doesn't exist, a default set of parameters will be created. The parameters are returned in an output port as an 'AdmittanceParameters' message, which can be used as input to the 'ExecuteTrajectory' Behavior.

Data Port Name	Port Type	Object Type
config_file_name	input	std::string
admittance_parameters_msg	output	moveit_pro_controllers_msgs::msg::AdmittanceParameters

Constructor & Destructor Documentation

◆ SetAdmittanceParameters()

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

explicit

Constructs the SetAdmittanceParameters Behavior.

Parameters

name	Name of the Behavior node.
config	Behavior node configuration, including ports and blackboard.
shared_resources	Resources shared across Behaviors, such as the ROS node, TF buffer, and logger.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

BT::NodeStatus moveit_pro::behaviors::SetAdmittanceParameters::tick ( )

override

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

Public Member Functions