moveit_pro::behaviors::WaitForMTCSolutionApproval Class Reference

Takes an MTC Solution message via an input data port 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_mtc_solution_approval.hpp>

Inheritance diagram for moveit_pro::behaviors::WaitForMTCSolutionApproval:

Collaboration diagram for moveit_pro::behaviors::WaitForMTCSolutionApproval:

Public Member Functions
BT::NodeStatus	onStart () override

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

Detailed Description

Takes an MTC Solution message via an input data port 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.

Data Port Name	Port Type	Object Type
solution	Input	moveit_task_constructor_msgs::msg::Solution
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::WaitForMTCSolutionApproval::metadata ( )

static

onStart()

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

override

providedPorts()

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

static

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

• wait_for_mtc_solution_approval.hpp
• wait_for_mtc_solution_approval.cpp