moveit_pro::behaviors::WaitForUserTrajectoryApproval 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_user_trajectory_approval.hpp>

Inheritance diagram for moveit_pro::behaviors::WaitForUserTrajectoryApproval:

Collaboration diagram for moveit_pro::behaviors::WaitForUserTrajectoryApproval:

Classes
struct	LinkPath

Public Member Functions
	WaitForUserTrajectoryApproval (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	onStart () override
BT::NodeStatus	onRunning () override
void	onHalted () override
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 ()

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

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: Each objective should only contain one instance of this behavior, since if multiples are instantiated then their service servers will conflict with each other. We decided to add this behavior in its current form to maintain the existing interface with the frontend, since this interface will need to change to resolve the conflicting servers issue robustly.

Constructor & Destructor Documentation

WaitForUserTrajectoryApproval()

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

Member Function Documentation

metadata()

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

static

onHalted()

void moveit_pro::behaviors::WaitForUserTrajectoryApproval::onHalted ( )

override

onRunning()

BT::NodeStatus moveit_pro::behaviors::WaitForUserTrajectoryApproval::onRunning ( )

override

onStart()

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

override

providedPorts()

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

static

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

• wait_for_user_trajectory_approval.hpp
• wait_for_user_trajectory_approval.cpp