moveit_studio::behaviors::BreakpointSubscriber Class Reference

A behavior that subscribes to a topic that can be used for pausing an objective during execution to allow introspection. This behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an objective. More...

#include <breakpoint_subscriber.hpp>

Inheritance diagram for moveit_studio::behaviors::BreakpointSubscriber:

Collaboration diagram for moveit_studio::behaviors::BreakpointSubscriber:

Public Member Functions
	BreakpointSubscriber (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_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. More...

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

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

Detailed Description

A behavior that subscribes to a topic that can be used for pausing an objective during execution to allow introspection. This behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an objective.

Data Port Name	Port Type	Object Type
breakpoint_topic	Input	std::string

Note

IMPORTANT: The breakpoint subscriber has QoS settings of reliable so the publisher to continue or abort is required to match those settings.

EXAMPLE: To continue from a breakpoint on the topic /breakpoint_topic_name the user can enter the following in a terminal to continue. If the value of data is False then the objective will be aborted. ros2 topic pub -1 /breakpoint_topic_name std_msgs/msg/Bool "{data: True}"

Constructor & Destructor Documentation

BreakpointSubscriber()

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

Member Function Documentation

metadata()

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

static

onHalted()

void moveit_studio::behaviors::BreakpointSubscriber::onHalted ( )

override

onRunning()

BT::NodeStatus moveit_studio::behaviors::BreakpointSubscriber::onRunning ( )

override

onStart()

BT::NodeStatus moveit_studio::behaviors::BreakpointSubscriber::onStart ( )

override

providedPorts()

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

static

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

• breakpoint_subscriber.hpp
• breakpoint_subscriber.cpp