Set any ROS2 parameter on any node at runtime via the standard set_parameters service. More...

#include <set_ros2_parameter.hpp>

Inheritance diagram for moveit_pro::behaviors::SetRos2Parameter:

[legend]

Collaboration diagram for moveit_pro::behaviors::SetRos2Parameter:

[legend]

Public Member Functions
	SetRos2Parameter (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	SetRos2Parameter (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< SetParameters > > client_interface)

Public Member Functions inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< SetParameters >
	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< SetParameters > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.

	~ServiceClientBehaviorBase () override=default

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
Static Public Attributes inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< SetParameters >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< SetParameters >
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.

Protected Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
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

Set any ROS2 parameter on any node at runtime via the standard set_parameters service.

This Behavior calls the node_name/set_parameters service to update a single parameter. It accepts the parameter value as a string and parses it according to the specified type. Useful for tuning Nav2 costmap parameters (e.g. robot_radius, footprint), controller gains, or any other parameter exposed via the standard ROS2 parameter service.

For array types, provide comma-separated values (e.g. "0.1,0.2,0.3" for double_array).

Data Port Name	Port Type	Object Type
node_name	input	std::string
parameter_name	input	std::string
parameter_value	input	std::string
parameter_type	input	std::string
response_timeout	input	double
wait_for_server_available_timeout	input	double

Constructor & Destructor Documentation

◆ SetRos2Parameter() [1/2]

moveit_pro::behaviors::SetRos2Parameter::SetRos2Parameter	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources
	)

explicit

◆ SetRos2Parameter() [2/2]

moveit_pro::behaviors::SetRos2Parameter::SetRos2Parameter	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase< SetParameters > >	client_interface
	)

explicit

Member Function Documentation

◆ metadata()

BT::KeyValueVector moveit_pro::behaviors::SetRos2Parameter::metadata ( )

static

◆ providedPorts()

BT::PortsList moveit_pro::behaviors::SetRos2Parameter::providedPorts ( )

static

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

Public Member Functions

Static Public Member Functions