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:

Static Public Member Functions
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()
Static Public Member Functions inherited from moveit_pro::behaviors::WaitForMTCSolutionApproval
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Additional Inherited Members
Public Member Functions inherited from moveit_pro::behaviors::WaitForMTCSolutionApproval
BT::NodeStatus	onStart () override

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.

Preserved as a thin subclass of WaitForMTCSolutionApproval so the WaitForUserTrajectoryApproval plugin id and its port signature keep working for existing Subtrees and Objectives; all runtime behavior comes from the base.

Deprecated:

This Behavior is deprecated. Use WaitForMTCSolutionApproval instead.

Data Port Name	Port Type	Object Type
solution	Input	moveit_task_constructor_msgs::msg::Solution
cartesian_path_links	Input	std::vector<std::string>

Member Function Documentation

metadata()

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

static

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