moveit_pro::behaviors::WaitForJointTrajectoryApproval Class Reference

Takes a raw JointTrajectory via an input data port (e.g. the output of PlanToJointGoal or PlanCartesianPath), wraps it in a minimal MTC Solution, and publishes it to the /preview_solution topic. Creates a SetBool service server on the /execute_behavior_solution topic and waits to receive a request containing data: true before succeeding. Visualizes the cartesian path for each valid input link name with a green line while waiting. More...

#include <wait_for_joint_trajectory_approval.hpp>

Inheritance diagram for moveit_pro::behaviors::WaitForJointTrajectoryApproval:

Collaboration diagram for moveit_pro::behaviors::WaitForJointTrajectoryApproval:

Public Member Functions
BT::NodeStatus	onStart () override

Static Public Member Functions
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Detailed Description

Takes a raw JointTrajectory via an input data port (e.g. the output of PlanToJointGoal or PlanCartesianPath), wraps it in a minimal MTC Solution, and publishes it to the /preview_solution topic. Creates a SetBool service server on the /execute_behavior_solution topic and waits to receive a request containing data: true before succeeding. Visualizes the cartesian path for each valid input link name with a green line while waiting.

For robots with joints outside the planning group (e.g. mobile bases, external axes), wire a GetCurrentPlanningScene Behavior upstream and pass its output to the planning_scene port so the preview reflects the full robot state. Without a planning scene, joints outside the trajectory fall back to URDF-default values.

Data Port Name	Port Type	Object Type
joint_trajectory_msg	Input	trajectory_msgs::msg::JointTrajectory
planning_scene	Input	moveit_msgs::msg::PlanningScene
cartesian_path_links	Input	std::vector<std::string>

Note

IMPORTANT: This Behavior creates a SetBool service server on the /execute_behavior_solution topic. Only one Behavior (of any class) that claims this service name can be instantiated per Objective; multiple instances will cause service-server conflicts. This interface will need to change to resolve the conflict robustly.

Member Function Documentation

metadata()

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

static

onStart()

BT::NodeStatus moveit_pro::behaviors::WaitForJointTrajectoryApproval::onStart ( )

override

providedPorts()

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

static

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

• wait_for_joint_trajectory_approval.hpp
• wait_for_joint_trajectory_approval.cpp