moveit_pro::behaviors::VisualizeLine Class Reference

Publishes a visualization marker that draws a line between two poses. More...

#include <visualize_line.hpp>

Inheritance diagram for moveit_pro::behaviors::VisualizeLine:

Collaboration diagram for moveit_pro::behaviors::VisualizeLine:

Public Member Functions
	VisualizeLine (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
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 > &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	kPortIDStartPose = "start_pose"
static constexpr auto	kPortIDEndPose = "end_pose"
static constexpr auto	kPortIDLineThickness = "line_thickness"
static constexpr auto	kPortIDMarkerLifetime = "marker_lifetime"

Additional Inherited Members
Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Publishes a visualization marker that draws a line between two poses.

This Behavior composes a visualization_msgs::msg::MarkerArray message which contains a green LINE_LIST marker connecting the origins of two input poses. It publishes the message to a ROS topic named /visual_markers, which is then visualized in the UI.

Input poses can be given in any known frame. The Behavior will transform them to the world frame before visualization. If the transform cannot be found, the Behavior will return a FAILURE status.

Each instance gets a unique marker namespace (VisualizeLine1, VisualizeLine2, ...) so multiple lines can coexist without overwriting each other.

Data Port Name	Port Type	Object Type
start_pose	input	geometry_msgs::msg::PoseStamped
end_pose	input	geometry_msgs::msg::PoseStamped
line_thickness	input	double
marker_lifetime	input	double

Constructor & Destructor Documentation

VisualizeLine()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kPortIDEndPose

constexpr auto moveit_pro::behaviors::VisualizeLine::kPortIDEndPose = "end_pose"

staticconstexpr

kPortIDLineThickness

constexpr auto moveit_pro::behaviors::VisualizeLine::kPortIDLineThickness = "line_thickness"

staticconstexpr

kPortIDMarkerLifetime

constexpr auto moveit_pro::behaviors::VisualizeLine::kPortIDMarkerLifetime = "marker_lifetime"

staticconstexpr

kPortIDStartPose

constexpr auto moveit_pro::behaviors::VisualizeLine::kPortIDStartPose = "start_pose"

staticconstexpr

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

• visualize_line.hpp
• visualize_line.cpp