moveit_pro::behaviors::SwitchController Class Reference

A Behavior to call the ros2_control switch_controllers service to activate/deactivate controllers. More...

#include <switch_controller.hpp>

Inheritance diagram for moveit_pro::behaviors::SwitchController:

Collaboration diagram for moveit_pro::behaviors::SwitchController:

Public Member Functions
	SwitchController (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	SwitchController (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< ListControllersSrv > > list_controllers_client_interface)
void	setSwitchControllerClientInterface (std::unique_ptr< ClientInterfaceBase< SwitchControllerSrv > > switch_controller_client_interface)
Public Member Functions inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< ListControllersSrv >
	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< ListControllersSrv > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.
virtual	~ServiceClientBehaviorBase ()=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 ()

Static Public Attributes
static constexpr auto	kPortActivateControllers = "activate_controllers"
static constexpr auto	kPortDeactivateControllers = "deactivate_controllers"
static constexpr auto	kPortAutomaticDeactivation = "automatic_deactivation"
static constexpr auto	kPortStrictness = "strictness"
static constexpr auto	kPortActivateAsap = "activate_asap"
static constexpr auto	kPortTimeout = "timeout"
static constexpr auto	kPortListServiceName = "controller_list_action_name"
static constexpr auto	kPortSwitchServiceName = "controller_switch_action_name"
Static Public Attributes inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< ListControllersSrv >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Additional Inherited Members
Protected Member Functions inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< ListControllersSrv >
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< 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

A Behavior to call the ros2_control switch_controllers service to activate/deactivate controllers.

This Behavior switches controllers in a ros2_control controller manager. Given a list of controllers to activate/deactivate, a service request is dispatched to switch the active ros2_control controllers accordingly. It can be configured to automatically deactivate controllers that are in conflict with the ones to activate. If any of the controllers fail to start or stop, the Behavior will return failure.

The Behavior will first call the list_controllers service to get the list of controllers and their states. It will then create a request to the switch_controller service with the specified controllers to activate and deactivate. The request will also include the strictness level, whether to activate controllers as soon as their hardware dependencies are ready, and a timeout for the operation.

The Behavior will wait for the service response and return success or failure based on the response.

Data Port Name	Port Type	Object Type
activate_controllers	input	std::vector<std::string>
deactivate_controllers	input	std::vector<std::string>
automatic_deactivation	input	bool
strictness	input	int
activate_asap	input	bool
timeout	input	std::chrono::duration<double>
controller_list_action_name	input	std::string
controller_switch_action_name	input	std::string

Constructor & Destructor Documentation

SwitchController() [1/2]

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

explicit

SwitchController() [2/2]

moveit_pro::behaviors::SwitchController::SwitchController ( const std::string &  name, const BT::NodeConfiguration &  config, const std::shared_ptr< BehaviorContext > &  shared_resources, std::unique_ptr< ClientInterfaceBase< ListControllersSrv > >  list_controllers_client_interface  )

explicit

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

setSwitchControllerClientInterface()

void moveit_pro::behaviors::SwitchController::setSwitchControllerClientInterface ( std::unique_ptr< ClientInterfaceBase< SwitchControllerSrv > >  switch_controller_client_interface )

inline

Member Data Documentation

kPortActivateAsap

constexpr auto moveit_pro::behaviors::SwitchController::kPortActivateAsap = "activate_asap"

staticconstexpr

kPortActivateControllers

constexpr auto moveit_pro::behaviors::SwitchController::kPortActivateControllers = "activate_controllers"

staticconstexpr

kPortAutomaticDeactivation

constexpr auto moveit_pro::behaviors::SwitchController::kPortAutomaticDeactivation = "automatic_deactivation"

staticconstexpr

kPortDeactivateControllers

constexpr auto moveit_pro::behaviors::SwitchController::kPortDeactivateControllers = "deactivate_controllers"

staticconstexpr

kPortListServiceName

constexpr auto moveit_pro::behaviors::SwitchController::kPortListServiceName = "controller_list_action_name"

staticconstexpr

kPortStrictness

constexpr auto moveit_pro::behaviors::SwitchController::kPortStrictness = "strictness"

staticconstexpr

kPortSwitchServiceName

constexpr auto moveit_pro::behaviors::SwitchController::kPortSwitchServiceName = "controller_switch_action_name"

staticconstexpr

kPortTimeout

constexpr auto moveit_pro::behaviors::SwitchController::kPortTimeout = "timeout"

staticconstexpr

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

• switch_controller.hpp
• switch_controller.cpp