moveit_pro::behaviors::VisualizePath Class Reference

Publishes a marker array that contains a polyline representing a path. More...

#include <visualize_path.hpp>

Inheritance diagram for moveit_pro::behaviors::VisualizePath:

Collaboration diagram for moveit_pro::behaviors::VisualizePath:

Public Member Functions
	VisualizePath (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	kPortIDPath = "path"
static constexpr auto	kPortIDMarkerLifetime = "marker_lifetime"
static constexpr auto	kPortIDMarkerName = "marker_name"
static constexpr auto	kPortIDShowPoses = "show_poses"
static constexpr auto	kPortIDPoseMarkerSize = "pose_marker_size"

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

Detailed Description

Publishes a marker array that contains a polyline representing a path.

This Behavior composes a visualization_msgs::msg::MarkerArray message which contains the path to visualize. 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. 'marker_lifetime' is the time in seconds that the path will be visualized. A value of 0 will visualize the path indefinitely.

Data Port Name	Port Type	Object Type
path	input	std::vector<geometry_msgs::msg::PoseStamped>
marker_lifetime	input	double
marker_name	input	std::string
show_poses	input	bool
pose_marker_size	input	double

Constructor & Destructor Documentation

VisualizePath()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kPortIDMarkerLifetime

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

staticconstexpr

kPortIDMarkerName

constexpr auto moveit_pro::behaviors::VisualizePath::kPortIDMarkerName = "marker_name"

staticconstexpr

kPortIDPath

constexpr auto moveit_pro::behaviors::VisualizePath::kPortIDPath = "path"

staticconstexpr

kPortIDPoseMarkerSize

constexpr auto moveit_pro::behaviors::VisualizePath::kPortIDPoseMarkerSize = "pose_marker_size"

staticconstexpr

kPortIDShowPoses

constexpr auto moveit_pro::behaviors::VisualizePath::kPortIDShowPoses = "show_poses"

staticconstexpr

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

• visualize_path.hpp
• visualize_path.cpp