Calls an action server that uses nav2_msgs::action::ComputePathToPose and outputs feedback The ComputePathToPose action (ROS 2 Humble) returns a nav_msgs/Path path and builtin_interfaces/Duration planning_time. More...

#include <compute_path_to_pose_action.hpp>

Inheritance diagram for moveit_studio::behaviors::ComputePathToPoseAction:

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Collaboration diagram for moveit_studio::behaviors::ComputePathToPoseAction:

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Public Member Functions
	ComputePathToPoseAction (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for ComputePathToPoseAction behavior.

	ComputePathToPoseAction (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase > client_interface)
	Overload for constructor which allows providing an alternate action client interface – useful for unit testing, but not a requirement.

tl::expected< std::string, std::string >	getActionName () override
	Gets the name of the action to use when initializing the action client.

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

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

virtual	~ActionClientBehaviorBase ()=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 ()
	Custom tree nodes that have input and/or output ports must define them in this static function.

static BT::KeyValueVector	metadata ()

Additional Inherited Members
Public Types inherited from moveit_studio::behaviors::ActionClientBehaviorBase< ComputePathToPose >
using	ClientGoalHandle = rclcpp_action::ClientGoalHandle< ComputePathToPose >

Protected Member Functions inherited from moveit_studio::behaviors::ActionClientBehaviorBase< ComputePathToPose >
virtual tl::expected< bool, std::string >	processResult (const std::shared_ptr< typename ActionT::Result >)
	Optional user-provided function to process the action result after the action has finished.

virtual void	processFeedback (const std::shared_ptr< const typename ActionT::Feedback >)
	Optional user-provided function to process feedback sent by the action server.

virtual std::string	getAbortedMessage (const std::shared_ptr< const typename ActionT::Result >) const
	Optional user-provided function to retrieve and surface an error message from an aborted action server result.

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

Calls an action server that uses nav2_msgs::action::ComputePathToPose and outputs feedback The ComputePathToPose action (ROS 2 Humble) returns a nav_msgs/Path path and builtin_interfaces/Duration planning_time.

Data Port Name	Port Type	Object Type
action_name	Input	std::string
planner_id	Input	std::string
use_start	Input	bool
start	Input	geometry_msgs::msg::PoseStamped
goal	Input	geometry_msgs::msg::PoseStamped
timeout_sec	Input	double
path	Output	nav_msgs::msg::Path
planning_time	Output	builtin_interfaces::msg::Duration

Constructor & Destructor Documentation

◆ ComputePathToPoseAction() [1/2]

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

Constructor for ComputePathToPoseAction behavior.

Parameters

name	Name of the node. Must match the name used for this node in the behavior tree definition file (the .xml file).
config	Node configuration. Only used here because the BehaviorTree.CPP expects constructor signature with name and config first before custom constructor parameters.
shared_resources	Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode.

◆ ComputePathToPoseAction() [2/2]

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

Overload for constructor which allows providing an alternate action client interface – useful for unit testing, but not a requirement.

Member Function Documentation

◆ getActionName()

tl::expected< std::string, std::string > moveit_studio::behaviors::ComputePathToPoseAction::getActionName ( )

overridevirtual

Gets the name of the action to use when initializing the action client.

Returns: The name of the action for the ComputePathToPoseAction action client.

Implements moveit_studio::behaviors::ActionClientBehaviorBase< ComputePathToPose >.

◆ metadata()

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

static

◆ providedPorts()

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

static

Custom tree nodes that have input and/or output ports must define them in this static function.

This function must be static. It is a requirement set by the BehaviorTree.CPP library.

Returns: List of ports with the names and port info. The return value is for the internal use of the behavior tree.

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

Public Member Functions

Static Public Member Functions

Additional Inherited Members