Create a sensor_msgs::msg::JointState and writes it to the Blackboard. More...

#include <create_joint_state.hpp>

Inheritance diagram for moveit_studio::behaviors::CreateJointState:

Collaboration diagram for moveit_studio::behaviors::CreateJointState:

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

	CreateJointState (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< GetPlanningScene >> client_interface)
	Constructor for CreateJointState behavior that allows for mocking of the rclcpp service client. More...

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

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

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(). More...

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

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

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

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
Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< GetPlanningScene >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< GetPlanningScene >
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. More...

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

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

Detailed Description

Create a sensor_msgs::msg::JointState and writes it to the Blackboard.

Data Port Name	Port Type	Object Type
joint_names	input	std::vector<std::string>
positions	input	std::vector<double>
velocities	input	std::vector<double>
efforts	input	std::vector<double>
joint_state_msg	output	moveit_studio_agent_msgs::msg::RobotJointState

This Behavior takes the current JointState of the robot and overwrites the positions, velocities and efforts of those joints indicated in the 'joint_names' input port. 'joint_names' and 'positions' are mandatory, and their sizes have to match. Otherwise an error will be returned. 'velocities' and 'efforts' are optional. If specified, their size needs to match with the size of 'joint_names'.

The current robot JointState is retrieved by a call to the '/get_planning_scene' service, which contains the full robot state.

Constructor & Destructor Documentation

◆ CreateJointState() [1/2]

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

Constructor for CreateJointState behavior.

◆ CreateJointState() [2/2]

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

Constructor for CreateJointState behavior that allows for mocking of the rclcpp service client.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions

Static Public Member Functions