Requests a user to manually adjust a collection of poses using interactive markers in the UI. More...

#include <adjust_pose_with_imarker.hpp>

Inheritance diagram for moveit_studio::behaviors::AdjustPoseWithIMarker:

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Collaboration diagram for moveit_studio::behaviors::AdjustPoseWithIMarker:

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Public Member Functions
	AdjustPoseWithIMarker (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Construct a new AdjustPoseWithIMarker object.

	AdjustPoseWithIMarker (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< AdjustPose > > client_interface)
	Alternate constructor which can use an existing ClientInterfaceBase to support testing with a mock service client interface.

Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< AdjustPose >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface.

	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< AdjustPose > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.

virtual	~ServiceClientBehaviorBase ()=default

Public Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

virtual	~AsyncBehaviorBase ()=default

BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().

BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().

void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().

void	resetStatus ()
	Resets the internal status of this node.

Public Member Functions inherited from moveit_studio::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 ()
	Returns list of ports for this Behavior.

static BT::KeyValueVector	metadata ()
	Returns metadata for this Behavior.

Additional Inherited Members
Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< AdjustPose >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< AdjustPose >
virtual tl::expected< std::chrono::duration< double >, std::string >	getResponseTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service response.

virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished.

Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Requests a user to manually adjust a collection of poses using interactive markers in the UI.

The list of prompts must be the same length in size as the initial poses requested from the user. The output is a list of adjusted stamped poses.

Data Port Name	Port Type	Object Type
prompts	Input	std::vector<std::string>
initial_poses	Input	std::vector<geometry_msgs::msg::PoseStamped>
adjusted_poses	Output	std::vector<geometry_msgs::msg::PoseStamped>

Constructor & Destructor Documentation

◆ AdjustPoseWithIMarker() [1/2]

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

explicit

Construct a new AdjustPoseWithIMarker object.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

◆ AdjustPoseWithIMarker() [2/2]

moveit_studio::behaviors::AdjustPoseWithIMarker::AdjustPoseWithIMarker	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase< AdjustPose > >	client_interface
	)

explicit

Alternate constructor which can use an existing ClientInterfaceBase to support testing with a mock service client interface.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode
client_interface	unique_ptr to an instance of a class derived from ClientInterfaceBase. The Behavior will take ownership of the unique_ptr in this constructor.

Member Function Documentation

◆ metadata()

BT::KeyValueVector moveit_studio::behaviors::AdjustPoseWithIMarker::metadata ( )

static

Returns metadata for this Behavior.

Returns: BT::KeyValueVector The Behavior metadata.

◆ providedPorts()

BT::PortsList moveit_studio::behaviors::AdjustPoseWithIMarker::providedPorts ( )

static

Returns list of ports for this Behavior.

Returns: BT::PortsList The list of I/O Ports

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

Public Member Functions

Static Public Member Functions